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This paper presents HANDEXOS, a novel wearable multiphalanges device for post-stroke rehabilitation. It was designed in order to allow for a functional and safe interaction with the user's hand by means of an anthropomorphic kinematics and the minimization of the human/exoskeleton rotational axes misalignment. This paper describes the mechatronic design of the exoskeleton's index finger module, simulation, modeling, and development of the actuation unit and sensory system. Experimental results on the validation of the dynamic model and experimental characterization of the index finger module with healthy subjects are reported, showing promising results that encourage further clinical trials.