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Physical Medicine and Rehabilitation (PMR) has been used as a treatment for patients with paralysis or another physical abnormality which might be caused by several kind of illness. The treatment that the PMR usually used for physical rehabilitation is by giving scheduled exercises for the patients. These exercises are usually repetitive and must be done with full assistance from a therapist. One part of the body that play a great role in performing the activity of daily living (ADL) is the hands. Hands rehabilitation methods has been performed without technology for years, especially in the low- and middle- income country such as Indonesia. Therefore, we perform this research. In this research, we developed a simple PID control system for soft actuator pneumatic glove so that the glove will be able to give a repetitive movement as a replacement for therapist in a rehabilitation session. [ABSTRACT FROM AUTHOR]