Exoskeleton glove

A linkage mechanism for an individual finger of an exoskeleton glove, the linkage mechanism comprising:

• a first linkage attachable to the exoskeleton glove,
• a second linkage connected to the first linkage through a first joint,
• a third linkage connected to the second linkage through a second joint, and
• a fourth linkage connected to the third linkage through a third joint, wherein the fourth linkage is provided with a finger orthosis, and the second linkage, the third linkage and the fourth linkage are capable to assume a mutually parallel placement wherein the finger orthosis is adjacent to the second joint at a farthest end from the exoskeleton glove, and the third joint is closer to the exoskeleton glove than the second joint, and wherein each of the first, second and third joint is a rotary joint, wherein each of the first, second and third joints are mounted in a fixed position with respect to the respective linkages it is mounted to such that the rotary joints are configured to fold and unfold the linkage mechanism.