Exoskeletric robotic interfaces have been employed in several fields of Human Robotics research like in rehabilitation, haptic interaction, teleoperation and space applica-tions. In this paper a novel Hand Exoskeleton (HE) is presented. Such device is optimized for haptic inter-action with virtual environment and allows exerting high accuracy controlled forces on the fingertip of the index and thumb of the operator. Several design solutions are conceived and implemented for optimizing the accuracy and mechanical performances. The use of Remote Centers of Motion mechanisms allows achieving compactness and lightweight. Moreover an improved stiffness of the transmission and reduced requirements for the electromechanical actuators have been achieved thanks to a novel Patent Pending principle for integrating speed reduction ratio within the transmission system. The mechanical design and some preliminary characterization tests for this device are shown.

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