Wearable hand robots are designed to be directly attached to human hands, supporting and augmenting locomotor capacity for a broad spectrum of rehabilitative and assistive applications. Recent advancements emphasize the use of soft hand exoskeletons, addressing joint misalignment issues while improving safety and comfort. This chapter explores user needs and technological requirements for soft wearable hand robots in rehabilitation, assistance, and haptic feedback applications. It evaluates recent innovations in mechanism design, motion monitoring, force detection, and control methods. Furthermore, it introduces a novel soft robotic glove designed for finger abduction support, offering enhanced assistance for complex hand motions compared to current devices.