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The sensors were embedded at the thumb, index finger, and back of the hand of the prosthetic hand. First, recognition tests involving tapped part were conducted. Then, recognition and realistic rating tests involving operations were conducted. Results showed high recognition of tapped parts and operations and the good realistic.This paper outlines the construction, current state, and future goals of HERCULES, a three degree-of-freedom (DoF) pneumatically actuated exoskeleton for stroke rehabilitation. The exoskeleton arm is capa