“…There are different types of hand exoskeletons that have been developed on the basis of different criteria, that is, size, weight, degrees of freedom (DoF), flexibility, wearability, modularity, and actuation mechanism ( Moreno-SanJuan et al, 2021 ; du Plessis et al, 2021 ; Shahid et al, 2018 ). In the studies by Krebs et al, (2007 ; Gupta et al, (2008 ; Bartlett et al, (2015 ; Dragusanu et al, (2020a) , the researchers focused on the exoskeleton for the wrist.…”