The presented paper concerns development of a parallel kinematic struc-ture of a palm fingers exoskeleton as a prospective solution for common design difficulties encountered in typical serial-kinematics exoskeletons for the fingers rehabi-litation. The performed state of the art review showed that in spite of over 40 years of development of exoskeletons, considered to be particularly useful as programmable medical devices, there is not achieved the acceptable level of safety and usability.

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