Table A3.

Comparison between existing representative work and our proposed soft hand exoskeleton.

Hand Exoskeletons	Pneumatic Actuator Structure	Joint Number of Each Actuator	Bending Sensor	Applications on Assistance	Applications on Assessment
Polygerinos et al., 2015 [7,29]	Fiber-reinforced elastomers	3	No	Yes	No
Yap et al., 2017 [30]	Fabric-reinforced elastomers with pleated structure	1	No	Yes	No
Heung et al., 2019 [19]	Fiber-reinforced elastomers with composite layer	2	No	Yes	No
Heung. et al., 2020 [18]	Fiber-reinforced elastomers with composite layer	2	No	Yes	Yes
Ma et al., 2022 [31]	Fiber-reinforced elastomers with three-air-chamber structure	1	No	Yes	No
Li et al., 2023 [10]	Fiber-reinforced elastomers with multi-stage articulated layer	3	No	Yes	No
Heung et al., 2023 [32]	Bellow-based elastomers	2	Resistive bending sensors	Yes	No
This work	Segmented composite bending actuators (SCPBAs)	2	Resistive bending sensors	Yes	Yes