A hand gesture recognition and real-time control system for wearable soft robotic hands

This paper presents the design, implementation, and validation of a wearable soft robotic system that integrates a sensorized glove with a pneumatically actuated single-finger soft actuator for intuitive human–machine interaction. The glove is embedded with a flex sensor and a flexible pressure sensor to capture finger bending and pressing intent, which are processed through a signal conditioning pipeline and subsequently mapped to actuator commands. A real-time closed-loop control algorithm regulates internal air pressure based on an empirically derived pressure–angle relationship, ensuring precise and stable finger actuation. Although currently limited to a single actuator, the system successfully performs basic grasping tasks.