## 4 Conclusions and Future Works  
Due to the social context in which an increasing number of people suffer strokes or other neurological diseases that leave them with various impairments affecting mobility, especially that of the upper limbs, it is necessary to carry out rehabilitation training to regain mobility and perform activities of daily living (ADL) anew. In this particular context, the present work addressed the realization of a wearable exoskeleton-type device for the upper limb to assist the patient during rehabilitation exercises, as well as the possibility of facilitating different daily activities, providing the possibility of re-enabling one's personal environment. The device provides active rehabilitation/assistance, being based on capturing the patient's muscle intention within the forearm muscles. PneuNets actuators provide flexion motion actuation of the phalanges (DIP, PIP, MCP) for fingers 2-5 and (IP, MCP) for finger 1, and the extension motion is passively controlled by depressurizing the actuators. Two different actuator lengths were used depending on the anatomical dimensions of the fingers. A rigorous procedure was followed for the manufacture of the actuators, based on a series of steps to ensure that the actuators would be consistent and reliable over a long period. The two main manufacturing technologies in the field of soft robotics were used, namely casting and 3D printing to produce the casting mold. Two-component elastomeric material (RTV ZA 22 A) with a Shore hardness of 22 A was subjected to uniaxial tensile testing until breakage to determine the material's mechanical characteristics and to perform FEA simulation based on material constants. It was taken into account that the actuator performs the bending motion with an amplitude approximately equal to the amplitude of motion of the PIP joint, so the actuator behavior was determined as a function of the input pressure, and the degree of bending of the actuator as well as the output force developed by the actuator were monitored with a flex sensor. At a pressure of 0.06 MPa, the bending angle is 117\({}^{\circ}\) and the force developed is 1.3 N. The control unit of the wearable device is mainly based on microcontroller-based information processing electronics and flow control elements such as pneumatic valves that distribute fluid to actuators. The exoskeleton-type wearable device has a relatively elementary structure consisting of a textile glove with a silicone rubber on the palmar area to improve grip and PneuNets actuators, which are positioned on the back of the hands using nylon fibers. This structure is designed to be effortless to use and wear while being comfortable for the patient. Moreover, the cost of its realization is really low. The wearable device is mainly intended for active rehabilitation of the patient's hands, but it is also possible to assist in various daily activities. The tests were performed on healthy subjects and were based on a series of flexion/extension movements of the fingers in the three joints (DIP, PIP, MCP, and IP), as well as through the use of different objects with different geometries and masses. These movements are based on the capture of the patient's muscle intention through EMG surface electrodes. As a future direction, the authors intend to increase the modularity and flexibility of the control unit, as currently, this unit brings some limitations in terms of its volume as well as its portability, also limiting the patient's room for action in case of assistance. Another issue the authors are considering as a future direction is related to the integration of the wearable device with virtual reality (VR) and the LeapMotion controller. By using VR and the LeapMotion controller, a series of specific rehabilitation games can be designed tailored to the patient's needs. The LeapMotion controller as an immersive element in VR provides the possibility for the patient to interact with different objects in VR, improving motivation and the level of interaction.