Enhancing current hand rehabilitation training through additional sensory stimulation methods may contribute to improved therapeutic outcomes in stroke survivors. This chapter describes a comparative study investigating the impact of integrating exoskeleton-based hand rehabilitation with haptic stimulation on fingertips on behavioral responses and event-related brain potentials. The study also investigates the touch-induced stimulation effects induced by holding a water bottle compared to those elicited through pneumatically driven cutaneous stimulation at the fingertip. Cutaneous stimulation was synchronized with the finger motion assisted by an exoskeleton.