The hand is one of the most used and difficult parts of the
body to be rehabilitated. Despite the challenge, devices like
Myoelectric Hand Orthosis [3] have been presented in
academic paper in early 90's. In general, the hand
rehabilitation devices can be divided in two categories. One
focuses on hand rehabilitation through simple movements,
such as hand grasping or extension of the fingers with
limited degree of control. Devices like Rutger master II [4],
Gentle/g system [5] and a pneumatic muscle hand therapy
device in [6] belong to this category. The other type of hand
rehabilitation devices [7]-[11] is capable of providing
control on each individual finger joint in order to perform
more complex finger rehabilitation routines. Among these,
devices presented in [9]-[11] could potentially be used as an
assistive device during the activity of daily living, if their
portability could be improved. Portability is a critical aspect
to allow the use of these devices in domestic environments,
such as the users' homes, and consequently increase the
frequency and decrease the cost of rehabilitation.