 This study developed a soft wearable robotic hand that provides controlled grip strength for assisting with ADLs. The robotic hand was equipped with an elastic actuator that could be used to measure the bending angle and output force of the fingers. An analytical model was then created to estimate the grip force based on the input pressure and bending angle. Two healthy subjects were tested to validate the accuracy of the model. The results showed that the robotic hand was able to provide control grip strength for assisting with ADLs. This article was authored by Kelvin H. L. Heung, Hung Lee, Thompson W. L. Wong and others.