## 4 Conclusions  
It could be said that several opportunity areas mentioned in the introduction were addressed during this work. Some opportunity areas improved in this work are the increase in the variety of possible rehabilitation exercises, the possibility of ADLs reproduction during therapy sessions, the reduction in manufacturing and design time and costs, and the customization of the rehabilitation mechanism for each individual. By using two DOFs, a 2D space of trajectories is possible, and also, by increasing the ROM of each phalanx, the variety of possible rehabilitation exercises is significantly improved compared to one DOF rehabilitation device or system with significant limitations in the phalanges' ROM. To see if there is a contribution to the ROM increase, we can observe previous, similar models that also proposed a mechanism that used virtual centers [20]. The proposed mechanism by [20] has a ROM of \(55^{\circ}\) in the MCP articulation and \(65^{\circ}\) at the PIP articulation. Comparing the ROM of previous similar designs, it can be observed that there is, in fact, an increase in these values; the proposed mechanism in this work reached at least \(85^{\circ}\) for the DIP joint, \(90^{\circ}\) for the PIP joint, and in the case of the MCP joint, the range is increased to \(90^{\circ}\). The use of rigid bar mechanisms allows for a precise, controlled motion that will ensure consistency in rehabilitation routines. All of the contributions mentioned in this section aim to increase the chance of successful rehabilitation for the patient and reduce the time it takes to regain the mobility of their finger articulations. Regarding the ongoing research being made, the most critical points are: validate the model using more test subjects, test for the patient's ROM recovery after therapy using this device, and reproduce the index model for the rest of the fingers to create a whole hand exoskeleton.  
Conceptualization, I.A.N.-T, M.C.E.-E, H.C.-C. and A.E.F.-G; methodology, I.A.N.-T, M.C.E.-E, H.C.-C. and A.E.F.-G; software, I.A.N.-T; validation, I.A.N.-T. and M.C.E.-E; formal analysis, I.A.N.-T, M.C.E.-E. and H.C.-C.; investigation, I.A.N.-T, M.C.E.-E., H.C.-C. and A.E.F.-G; resources, I.A.N.-T. and M.C.E.-E.; data curation, I.A.N.-T; writing--original draft preparation, I.A.N.-T; writing--review and editing, I.A.N.-T, M.C.E.-E., H.C.-C. and A.E.F.-G.; visualization, I.A.N.-T., M.C.E.-E., H.C.-C. and A.E.F.-G.; supervision, M.C.E.-E., H.C.-C. and A.E.F.-G; project administration, I.A.N.-T. and M.C.E.-E. All authors have read and agreed to the published version of the manuscript.  
This research received no external funding except for a scholarship from the Mexican government institution CONACyT for the doctoral studies of [PERSON].  
Not applicable.  
Informed Consent Statement: Informed consent was obtained from all subjects involved in the study.  
Data Availability Statement: Datasets are available at the following link: [[https://drive.google.com/drive/folders/1](https://drive.google.com/drive/folders/1) Vpk67%2 yhonWMplkoIONieMANoekgAjp?usp=sharing]([https://drive.google.com/drive/folders/1](https://drive.google.com/drive/folders/1) Vpk67%2 yhonWMplkoIONieMANoekgAjp?usp=sharing).  
The authors give thanks for the motion capture equipment and installations provided by the representatives of Vicon in Mexico (HCG). Thanks to [PERSON] for allowing the use of his MOCAP laboratory and equipment. Thanks to [PERSON] and [PERSON] for the help provided during the motion capture sessions and for the technical support regarding this matter. [PERSON] thanks the Mexican governmental institution CONACyT and Instituto Tecnologico y de Estudios Superiores de Monterrey for its support through a doctoral studies scholarship.  
The authors declare no conflict of interest.  
The following abbreviations are used in this manuscript:  
\begin{tabular}{l l} CAD & Computer-Aided Design \\ ADL & Activities of Daily Living \\ DOF & Degree of Freedom \\ ROM & Range of Motion \\ \end{tabular}