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I present the design, implementation and control of a novel, linkage-based, underactuated hand exoskeleton aimed to assist patients with hand disabilities during grasping tasks for robot assisted physical rehabilitation or robot assisted activities of daily living. Even though the proposed exoskeleton was designed with the purpose of assisting users during interactions with real objects around them, its use can be extended for haptic applications as well. In this thesis, I will deeply mentionarXiv:2003.11598v1 fatcat:zkm4hhmzjrdoxgu56oalzkjo7i