Objective：To evaluate the usability of a portable soft hand rehabilitation robot in clinical and home-based upper limb rehabilitation for stroke patients. Methods：Thirteen stroke patients with hemiplegia were recruited to participate in a usability evaluation of the hand rehabilitation robot. Participants first received two weeks of supervised in - hospital training to learn device operation，followed by six weeks of unsupervised home -based rehabilitation（33 minutes per session，twice daily）. After training，the system usability scale（SUS）and semi - structured interviews were used to assess usability of the robot. In addition，the Fugl -Meyer assessment upper extremity（FMA-UE），action research arm test（ARAT），and activities of daily living（ADL）scale were applied before and after the intervention，as well as during training，to assess patients’upper limb motor function and ability to perform activities of daily living. Results：The mean SUS score of the 13 participants was 85.8 ± 10.5，indicating an“Excellent”level of usability. Semi-structured interviews revealed that the device was easy to operate and portable，while highlighting areas requiring improvement，such as device connectivity，hardware stability，and training module diversity. After the intervention，several participants demonstrated improvements in FMA-UE，ARAT，and ADL scores compared with baseline，reaching the mini clinical important difference（MCID）. Conclusion：The soft hand rehabilitation robot demonstrates high usability and safety for both clinical and home - based upper limb rehabilitation in stroke survivors with hemiplegia，suggesting its potential as a promising tool for post-stroke hand rehabilitation.