A hand exoskeleton device is provided having at least three robotic units. One is for attachment to the thumb and has two elements for attachment to the distal and proximal phalanges. The other two each have three elements, for attachment to the distal, middle and proximal phalanges of the index and middle fingers. The elements of each robotic unit are interconnected by suitable hardware to provide for relative angular movement of the elements about an axis of rotation that corresponds substantially to the axis of rotation of a users interphalangeal joint movement. An actuator is associated with the interconnecting hardware to enable adjustment of the two elements in each of two opposite directions. A sensor senses the angular position or force of one element relative to the other element of each pair. A computerized controller controls movement of the elements of each pair by means of the associated actuator.
