With technology advancement and product customization demands, more people with mobility issues are seeking specialty assistive tools to help facilitate and manage their daily lives. This case study adopts research through design methodology and explores the explores the workflow approach in developing wearable assistive glove for female wheelchair users using 3D CAD modeling program, 3D scanning, and 3DP technology. The assistive glove was developed using both and 3D printed nylon filament. It consists of a custom fit glove and a 3D printed nylon wrist protection portion. Friction pads are custom designed on fit model to support the potential hand overuse in the pushrim gripping motion. Heat dissipation is also considered through incorporating a 3D printed textile inset on the glove dorsal side. Key findings reflect challenges in manipulating 3DP materials for assistive tool development and virtual fit evaluation in the 3D CAD modeling process.