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However, current soft hand pneumatic exoskeletons often exhibit uniform deformation, mismatch the profile of the interacting objects, and seldom quantify the assistive effects during activities of daily life (ADL), such as extension angle and predicted joint stiffness. The lack of quantification poses challenges to the effective and sustainable advancement of rehabilitation technology. This paper introduces the design, modeling, and testing of pneumatic bioinspired segmented composite proprioceptive bending actuators (SCPBAs) for hand rehabilitation in ADL tasks. Inspired by human finger anatomy, the actuator\u2019s soft-joint\u2013rigid-bone segmented structure provides a superior fit compared to continuous structures in traditional fiber-reinforced actuators (FRAs). A quasi-static model is established to predict the bending angles based on geometric parameters. Quantitative evaluations of predicted joint stiffness and extension angle utilizing proprioceptive bending are performed. Additionally, a soft under-actuated hand exoskeleton equipped with SCPBAs demonstrates their potential in ADL rehabilitation scenarios.<\/jats:p>","DOI":"10.3390\/biomimetics9100638","type":"journal-article","created":{"date-parts":[[2024,10,21]],"date-time":"2024-10-21T10:49:22Z","timestamp":1729507762000},"page":"638","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":12,"title":["A Pneumatic Soft Exoskeleton System Based on Segmented Composite Proprioceptive Bending Actuators for Hand Rehabilitation"],"prefix":"10.3390","volume":"9","author":[{"ORCID":"https:\/\/orcid.org\/0009-0008-2351-3358","authenticated-orcid":false,"given":"Kai","family":"Li","sequence":"first","affiliation":[{"name":"The State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China"},{"name":"The Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China"},{"name":"University of Chinese Academy of Sciences, Beijing 100049, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Daohui","family":"Zhang","sequence":"additional","affiliation":[{"name":"The State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China"},{"name":"The Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yaqi","family":"Chu","sequence":"additional","affiliation":[{"name":"The State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China"},{"name":"The Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xingang","family":"Zhao","sequence":"additional","affiliation":[{"name":"The State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China"},{"name":"The Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Shuheng","family":"Ren","sequence":"additional","affiliation":[{"name":"The State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China"},{"name":"The Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China"},{"name":"University of Chinese Academy of Sciences, Beijing 100049, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xudong","family":"Hou","sequence":"additional","affiliation":[{"name":"The State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China"},{"name":"The Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China"},{"name":"University of Chinese Academy of Sciences, Beijing 100049, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2024,10,18]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"439","DOI":"10.1016\/S1474-4422(19)30034-1","article-title":"Global, regional, and national burden of stroke, 1990\u20132016: A systematic analysis for the Global Burden of Disease Study 2016","volume":"18","author":"Johnson","year":"2019","journal-title":"Lancet Neurol"},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"1677","DOI":"10.1056\/NEJMcp043511","article-title":"Rehabilitation after Stroke","volume":"352","year":"2005","journal-title":"N. 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