Active participation during rehabilitation process leads to improved therapeutic results. This chapter describes the development of an exoskeleton-assisted hand therapy platform that integrates fingertip cutaneous haptic stimulation, the first attempt to combine these methods for enhancing training engagement. Using soft material 3D printing techniques, we developed low-cost, rapid-prototyped, and uniform-performance soft pneumatic actuators designed to deliver fingertip haptic sensations. The cutaneous stimulation delivered to the fingertip is synchronized with the movement generated by the hand exoskeleton.