Introduction

The ancient art of origami or kirigami has been an inspiration for modern engineering innovation in recent years. As a sub-category of soft robotics, it has been utilized in many areas of engineering such as construction, product design, and also biomedical application. In biomedical application, soft robotics has been utilized to be used as a replacement of rigid mechanics in creating rehabilitative device for stroke patients as it provides much more flexibility maneuverability.
However, kirigami-inspired hand exoskeletal system has not been fully utilized in the field of rehabilitation purpose for hand exoskeletal system. The only application for kirigami-inspired exoskeletal device would be a simple master-slave control. This paper aims to discover if kirigami-inspired hand exoskeletal system can be utilized in the application hand rehabilitation in the future by creating a prototype (Fig. \ref{FullMechanicalSystemofHandExoskeletalSystem}).