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| Design requirements for the construction of a soft glove for hand rehabilitation or assistive.
| Characteristic | Requirements |
|---|---|
| Weight of Glove | <0.5 kg |
| Weight of Actuator | <100 g |
| Total Weight | <3 kg |
| Width | <2 cm |
| Minimum bending angle | 250° |
| Speed of actuation | 1–3 s |
| Force for assistive | ∼ 7 N |
| Force for rehabilitation | ∼ 3 N |
