In this thesis, a prototype rehabilitation glove for patients with reduced hand mobility was researched and developed using principles of soft robotics. The glove, controlled by compressed air, is designed to assist patients in regaining finger functionality through targeted therapeutic exercises. The second chapter provides a state-of-the-art review, describing various soft robots for joint rehabilitation and methods for actuating elastic actuators. The third chapter focuses on three possible construction solutions for soft robot segments, the definition and modeling of 3D models, and the design of the glove and rings for attaching the soft robots to the user's fingers. In the fourth chapter, a software simulation environment is described through a simple example, in which will be demonstrated the operation of the soft robot. The fifth chapter details the prototype manufacturing process using 3D printing technology and presents the selection of the optimal operating pressure based on testing the printed models. The operation of the rehabilitation glove is also demonstrated on a user, confirming the practical applicability of the developed system. The achieved results show that the rehabilitation glove can significantly contribute to improving patient rehabilitation, with possibilities for further improvements such as controlling individual fingers using separate valves, using more flexible filaments for 3D printing, and enhancing the 3D model of the soft robot to achieve better performance.