Sensory rehabilitation in pediatric patients with traumatic spinal cord injury is challenging due to the ongoing development of their nervous systems. However, these sensory problems often result in nonuse of the impaired limb, which disturbs impaired limb rehabilitation and leads to overuse of the contralateral limb and other physical or psychological issues that may persist. Here, we introduce a soft nanomembrane sensor-enabled wearable glove system that wirelessly delivers a haptic sensation from the hand with tactile feedback responses for sensory impairment assistance. The smart glove system uses gold nanomembranes, copper-elastomer composites, and laser-induced graphene for the sensitive detection of pressure, temperature, and strain changes. The nanomaterial sensors are integrated with low-profile tactile actuators and wireless flexible electronics to offer real-time sensory feedback. The wearable system's thin-film sensors demonstrate 98% and 97% accuracy in detecting pressure and finger flexion, respectively, along with a detection coverage of real-life temperature changes as an effective rehabilitation tool. Collectively, the upper-limb sensory impairment assistance system embodies the latest in soft materials and wearable technology to incorporate soft sensors and miniaturized actuators and maximize its compatibility with human users, offering a promising solution for patient sensory rehabilitation.