## 5 Soft Robotic Exoskeletons for Hand Rehabilitation
### Interactive Experience Features  
* _Wearability_. Articles providing information on the portability and wearability are mainly papers describing clinical trials and results [99; 100; 101; 102; 103; 104; 105]. The studies by [PERSON] et al. [99; 100; 101] investigated user acceptance (e.g., perceived ease of use, motivation, system usability) and the effects of the soft robot glove system HiM (Handin- Mind) on the performance of activities of daily living (ADLs) by five chronic stroke patients. The System Usability Scale (SUS) was used to measure usability, and the Intrinsic Motivation Inventory (IMI) was used to measure motivation (in terms of interest/enjoyment, perceived competence, effort, perceived choices in performing a particular activity, experienced pressure/tension, and value/benefit). User acceptance measured by the SUS and IMI was scored high. Results were positive regarding the usability of the device, especially for gross motor activities, while performing fine motor tasks with the glove proved difficult. Poor performance in the motor task was also reported by [PERSON] et al. [103]. [PERSON] et al. [104; 105] showed that self-managed rehabilitation at home with the soft extra muscle (SEM) glove [106] is effective for improving and maintaining gross and fine motor skills in the hands of people with chronic spinal cord injuries or chronic tetraplegia. Thus, home-based rehabilitation may be possible and effective with soft robotic gloves. \begin{table}
\begin{tabular}{l l l l l l l l l l} \hline \hline
**Ref.** & **Actuator Type** & **FF** & **TF** & **\(DIP_{f}\)** & **\(PIP_{f}\)** & **\(MCP_{f}\)** & \(CMC_{t}\)** & \(MCP_{t}\) & **\(IP_{t}\)** \\  & **[deg]** & **[deg]** & **[deg]** & **[deg]** & **[deg]** & **[deg]** & **[deg]** & **[deg]** & **[deg]** \\ \hline \multirow{4}{*}{[96]} & Fiber-reinforced & & & & & & & & & \\  & Silicon-Based Actuator & & & & & & & & & \\  & (SBA) & & & & & & & & & \\ \hline \multirow{2}{*}{[97]} & SBA with a corrugated & & & & & & & & & \\  & accordion-like outer layer & & & & & & & & & \\ \hline \hline \end{tabular}
\end{table} 
Table 4: _Cont._ \begin{table}
\begin{tabular}{l l l l l l l l l} \hline \hline
**Ref.** & **Actuator Type** & \(m\)**FF** & \(m\)**TF** & \(m\)**GF** & \(m\)**FGF** & \(m\)**LM** & \(m\)**GL** & \(m\)**PL** & \(P\)**_API_ & _Weight_ \\  & **[N]** & **[N]** & **[N]** & **[N]** & **[g]** & **[g]** & **[g]** & **[kPa]** & **[g]** \\ \hline \hline
[74] & Pneu-Nets actuators & & & & & & & & & \\ \hline
[90] & Textile actuators with TPE & & & & & & & & \\ \hline
[98] & Segmented PneuNets & & & & & & & & \\  & Bending Actuators (SPBA) & & & & & & & & \\ \hline
[92] & Segmented PneuNets & & & & & & & & \\  & Bending Actuators (SPBA) & & & & & & & & \\ \hline
[93] & 3D printed with a & & & & & & & & 1500 (complete system) \\  & fold-based design SA & & & & & & & & \\ \hline
[94] & Fabric-reinforced SA & 9.12 & 36.21 \(\pm\) 4.5 & 18.7 \(\pm\) 0.9 & & & 120 & 180 (glove) \\ \hline
[86] & Fabric-reinforced SA & & & & & & & & 70 & 99 (glove) \\ \hline
[89] & Fabric-reinforced SA & & & & & & & & \\ \hline \multicolumn{6}{l}{Fiber-reinforced} & & & & & & & \\ \multicolumn{6}{l}{Silicon-Based Actuator} & & & & & & & \\ \multicolumn{6}{l}{(SBA)} \\ \hline \hline
[97] & SBA with a corrugated & & & & & & & & \\ \multicolumn{6}{l}{accordion-like outer layer} & & & & & & \\ \hline \hline \end{tabular}
\end{table} 
Table 5: Forces achieved by soft exoskeletons presented in the literature. mFF: maximum fingertip force; mTF: maximum tip force; mGF: maximum grip force; mFGF: maximum frictional grip force; mLM: maximum liftable mass; mGL: maximum grasping load; mPL: maximum pinching load; TAP: test actuation pressure; weight: device weight. The wearability of an exoskeleton is significantly influenced by its weight. The soft exoskeletons presented in the literature have quite different weights; the ones analyzed have a weight that varies between about 100 g and 240 g [86; 89; 92; 94; 97]. They are therefore characterized by very good lightness.