Long exposure to overload and vibration transmission on the upper limb are among the high risk injury factors in industrial environments. They contribute to the development of musculoskeletal disorders, which can lead to economic and social setbacks. To address this issue, robotic systems have been developed that act either as an autonomous system or in collaboration with the workers. In this direction, and with the aim to develop a system that contributes to a simultaneous reduction of the overloading and vibration transmission, we present a novel wearable soft robotic hand-arm system. Preliminary experimental results in a vibrational tool use are reported to shown the potential of the system in improving worker ergonomics.