Hand rehabilitation is a process aimed at recovering and improving hand functionality after an injury, surgery, or neurological condition that may affect the hand. This type of rehabilitation can be beneficial for various conditions such as hand bone fractures, dislocations, ligament injuries, tendon injuries, arthritis, strokes, or paralysis. The development of soft robots for rehabilitation brings numerous advantages and possibilities for enhancing the rehabilitation process. Soft robots are typically made from flexible materials such as rubber or fabric, which makes them safer for use in close proximity to patients. They can be customized to fit the shape of the patient's body and provide comfort during therapy. Soft robots can offer precise control and gentle guidance of movements to assist patients in regaining motor functions. This means they can adapt to individual abilities and gradually increase the intensity of therapy as the patient progresses. In the initial stages of researching soft robots, various concepts were studied and described to select optimal geometries for their design. During this research, cylindrical and cellular segments proved to be among the most successful concepts. Detailed research and description of the selected soft robot models and their testing were conducted. One of the considered models was model B, based on a cylindrical segment. During testing, model B demonstrated better performance in terms of generating higher forces, which is highly beneficial in the context of hand rehabilitation. Continuing the work, attempts were made to improve model B by modifying the thickness of its walls. The idea was to achieve greater rotation or even higher forces. However, after testing different prototypes, it was concluded that the initial prototype with a wall thickness of 2 mm was the better choice. This suggests that the specific thickness of the walls is optimal for achieving the desired performance and rehabilitation goals. The prototype B (cylindrical segment) was utilized to create an entire glove specifically designed for hand rehabilitation. The glove was then subjected to testing to verify its functionality and effectiveness in the rehabilitation process. The purpose of this testing was to confirm that the developed prototype is capable of providing the necessary support and guidance during hand rehabilitation. It is important to note that cylindrical and cellular segments are only the examples of geometries that have proven successful in the research of soft robots. There are other geometries and shapes being explored and applied in different contexts of soft robotics. Further research and development in this field enable progress in the design and functionality of soft robots, opening up possibilities for applications in areas such as rehabilitation, medical therapy, environmental exploration, and other industrial and technological fields. The integration of sensors and measurement devices would enable the monitoring and measurement of various parameters during the rehabilitation process, providing feedback to therapists and users and allowing for customization and optimization of therapy. By integrating those components, we achieve motion capture, force measurement, electromyography (EMG), haptic feedback, as well as progress tracking and data analysis.