A wearable mechatronic device for limb rehabilitation by operating in agonist-antagonist configuration, including a proximal stiff bearing structure attachable to the proximal element of the limb and a distal stiff bearing structure attachable to the distal element of the limb, said proximal and distal structures being pivotally connected about a revolute axis adapted to instantaneously self-align with the articulation axis of the limb and adapted to move around a point inside a space defined by two opposite cones having vertex coincident on such point. A couple of opposite adjustable joints allow the movement of the joint axis. Each shaft, which is linked between said proximal and distal structures, pivotally receives a driven pulley integral to the other among said proximal and distal structures. The opposite adjustable joints are respectively connected with a first and a second kinematic chain placed specularly to each other with respect to a longitudinal plane of the limb and connected with said proximal or distal structure. A combined hand-elbow exoskeleton is also provided comprising the wearable mechatronic device arranged at the elbow and a hand exoskeleton arranged at the hand. The hand exoskeleton comprises an external backing element applicable on the metacarpus, shell-like elements applicable on each phalanx connected in series to each other starting from said backing element by means of respective joints, and means to arrange operatively and automatically said joints in coincidence of each respective articulation of the hand.
