Hand impairment following neurological disorders substantially limits independence in activities of daily living, motivating the development of effective assistive and rehabilitation strategies. Soft robotic gloves have attracted growing interest in this context, yet persistent challenges in customization, ergonomic fit, and user comfort constrain their clinical utility. Here, we present an ergonomic, customizable fabric-based soft robotic glove whose actuators can be tailored to individual finger-joint geometry. The glove comprises five dual-action actuators supporting finger flexion and extension, together with a dedicated thumb abduction actuator. Leveraging computer numerical control heat sealing technology, we fabricated symmetrical-chamber actuators that adopt a concave outer surface upon inflation, thereby increasing finger contact area and improving comfort. Characterization confirmed joint moment and grasping force sufficient for ADL-relevant tasks. In ten healthy subjects, active assistance significantly reduced forearm muscle activity during manipulation, and a pilot study in three individuals with cervical spinal cord injury showed more natural grasp patterns and reduced reliance on tenodesis grasp.

翻译：神经系统疾病后的手部功能障碍严重限制日常生活活动的独立性，推动了有效辅助与康复策略的发展。在此背景下，软体手套引起了日益增长的研究兴趣，但定制化、人体工学适配及用户舒适性方面的持续挑战制约了其临床实用性。本文提出一种人体工学可定制织物基软体手套，其驱动单元可根据个体手指关节几何结构进行定制。该手套包含五个支持手指屈伸的双向致动器，以及一个专用拇指外展致动器。通过采用计算机数控热封技术，我们制造了对称腔室型致动器，其充气后外表面呈凹形，从而增加手指接触面积并提升舒适度。特性测试证实其关节力矩与抓握力足以完成与日常生活活动相关的任务。在十名健康受试者中，主动辅助显著降低了操作过程中前臂肌肉活动度；一项针对三位颈椎脊髓损伤患者的初步研究显示，其抓握模式更趋自然，对腱固定抓握的依赖性降低。