en Measurement and Instrumentation Measurement and Instrumentation Only For Articles of ELECRiS 2024 Only For Articles of ELECRiS 2024 <span style="font-size:10.0pt"><span new="" roman="" style="font-family:" times="">Rehabilitation devices like assistive gloves require bending-type soft actuators for controlled, repetitive finger movements essential for therapy. However, non-segmented actuators often struggle to replicate natural finger articulation, which can cause discomfort and reduce patient compliance. This paper presents the design and assembly of a segmented bending pneumatic soft actuator to achieve index finger flexion, aiming to improve comfort and support natural finger movement at low pressure. The actuator is integrated into a glove with a flexible bend sensor to measure the flexion angle of the metacarpophalangeal joint. Ecoflex 0-50 A-B silicone rubber is used in the fabrication, with air bubbles removed to ensure consistent actuator performance. The study investigates the actuator&#39;s performance and the sensor&#39;s ability to accurately measure joint flexion. The results, presented through detailed graphs, analyze the actuator&rsquo;s flexibility, bending, and elongation under different pressure scenarios, offering insights into its effectiveness in improving patient comfort, joint articulation, and rehabilitation outcomes.</span></span> Assistive Glove, Finger flexion, Flexible Bend Sensor, Segmented Bending Actuator 214 222 http://ijeee.iust.ac.ir/browse.php?a_code=A-10-5527-1&slc_lang=en&sid=1 Nurul Hidayah Rodzuan nurulhidayahrodzuan@gmail.com 1800319475328460016543 1800319475328460016543 No Department of Electrical Engineering Technology, Faculty of Engineering Technology, Universiti Tun Hussein Onn Malaysia, 84600 Pagoh, Johor, Malaysia Ili Najaa Aimi Mohd Nordin ilinajaa@uthm.edu.my 1800319475328460016544 1800319475328460016544 Yes Department of Electrical Engineering Technology, Faculty of Engineering Technology, Universiti Tun Hussein Onn Malaysia, 84600 Pagoh, Johor, Malaysia Ahmad ‘Athif Mohd Faudzi athif@utm.my 1800319475328460016545 1800319475328460016545 No Centre for Artificial Intelligence and Robotics, Universiti Teknologi Malaysia, 51400 Kuala Lumpur, Malaysia Noraishikin Zulkarnain shikinzulkarnain@ukm.edu.my 1800319475328460016546 1800319475328460016546 No Department of Electrical, Electronic and Systems Engineering, Faculty of Engineering and Built Environment, Universiti Kebangsaan Malaysia, 43600 Bangi, Selangor, Malaysia Muhammad Rusydi Muhammad Razif rusydi@uthm.edu.my 1800319475328460016547 1800319475328460016547 No Department of Electrical Engineering Technology, Faculty of Engineering Technology, Universiti Tun Hussein Onn Malaysia, 84600 Pagoh, Johor, Malaysia Nik Normunira Mat Hassan normunira@uthm.edu.my 1800319475328460016548 1800319475328460016548 No Department of Mechanical Engineering Technology, Faculty of Engineering Technology, Universiti Tun Hussein Onn Malaysia, 84600 Pagoh, Johor, Malaysia Muhamad Hazwan Abdul Hafidz hazwan@a2tech.my 1800319475328460016549 1800319475328460016549 No A2Tech Sdn. Bhd., Level 2, Block B, V01, Faculty of Engineering, UTM, 81310 Skudai, Johor, Malaysia