This paper presents an innovative way to customize silicone products by utilizing a design automation process and extrusion-based silicone 3D printing as a manufacturing technique. A customizable rehabilitation glove for stroke patients is used as an example to demonstrate the process chain. Soft robotics offers unique possibilities for the use of rehabilitation devices in a homecare setting and has the potential to support the healing process throughout the different steps of neurorehabilitation. Furthermore, customization of such devices can make physical therapy more comfortable and effective for the patient. The presented process chain combines pose detection with parametric design in order to adapt a glove consisting of soft bending actuators to the hand of a patient, which can be manufactured in a single day.