Powered exoskeletons gained increasing relevance in the field of rehabilitation robotics during the last years. These robots can be exploited to control the movements of patients having neuro-muscular impairment, following, e.g., stroke, spinal cord injuries (SCI), or cerebral palsy, to restore their lost functionalities. Compared to end-point external machines, exoskele-tons present the advantage of independently controlling each degree of mobility of the user’s limb, thanks to the specific interaction between the robot links and the user’s body segments. This theoretical advantage is however hardly achieved by the real system performances, due to several issues, mainly related to design of the physical human-robot interface (pHRI). In fact, the pHRI design has to merge human-oriented requirements, such as inherent safety, adaptability to anthropometry variability, and wearing easiness, with an effective bi-directional transfer of torque. In recent years, several applications for hand or fingers rehabilitation have been presented. In this work, we present HandExos, a novel wearable active device, which mechanical and kinematic pHRI design tries to satisfy the requirements presented above.

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