Hand exoskeleton for rehabilitation and assistance of hand motor functions

A hand exoskeleton comprising:

• a hand- and/or wrist-wearable support having a portion configured to be connected in proximity to a metacarpophalangeal joint of a user;
• and
• an elongated motion unit operatively connected to, or stemming from, the hand- and/or wrist-wearable support, said elongated motion unit comprising:
• a first, top layer of partial movable members comprising a first cavity along its entire length,
• a second, bottom layer of partial movable members comprising a second cavity along its entire length,
• a compliant layer sandwiched between said first, top layer and said second, bottom layer, the compliant layer running through the elongated motion unit and along the longitudinal axis of the elongated motion unit,
• a plurality of adjacent movable members located along the longitudinal axis of the motion unit, each of the movable members comprising a first and second cavity along its entire length,
• a first cable or wire running inside said first cavity and connected to the first, top layer,
• a second cable or wire running inside said second cavity and connected to the second, bottom layer,
• at least one finger support configured to locate two fingers of a user wearing the exoskeleton, the at least one finger support being disposed at one end of the elongated motion unit, one or more of the first layer and the second layer being connected at an end thereof to the at least one finger support.