This study with a T-52 class wheelchair racing athlete aimed to combine quantitative biomechanical measurements to the athlete’s perception to design and test different prototypes of a new kind of rigid gloves. Three personalized rigid gloves with various, fixed wrist extension angles were prototyped and tested on a treadmill in a biomechanics laboratory. The prototype with 45° wrist extension was the athlete’s favourite as it reduced his perception of effort. Biomechanical assessment and user-experience data indicated that his favourite prototype increased wrist stability throughout the propulsion cycle while maintaining a very similar propulsion technique to the athlete’s prior soft gloves. Moreover, the inclusion of an innovative attachment system on the new gloves allowed the athlete to put his gloves on by himself, eliminating the need for external assistance and thus significantly increasing his autonomy. This multidisciplinary approach helped to prototype and develop a new rigid personalized gloves concept and is clearly a promising avenue to tailor adaptive sports equipment to an athlete’s needs.