An exoskeleton device arranged to assist the movement of at least one phalangeal articulation (50,60) of a finger in a flexion/extension plane Γ of said articulation, said exoskeleton device arranged to pass between an open configuration and a closed configuration during a rotation θ 1,θ 2 of said phalangeal articulation (50,60) about an axis substantially orthogonal to said flexion/extension plane Γ, said exoskeleton device comprising: - a metacarpal support arranged to be integral to a metacarpal portion of a hand; - a first support having engagement means arranged to engage said first support to a first phalanx of said finger; - a kinematic chain arranged to connect said metacarpal support and said first support; said kinematic chain comprising: - a linear actuator constrained to said metacarpal support by a first rotational joint and arranged to carry out a stroke x in a radial direction with respect to said rotational joint; - a first stiff link connected to said linear actuator by a second rotational joint; - a second stiff link connected to said metacarpal support by a fourth rotational joint and connected to said first stiff link by a fifth rotational joint; - a first slide connected to said first support and arranged to carry out a translation with respect to it along an axis y, said first slide being also connected to said first stiff link by a third rotational joint; said first slide and said third rotational joint being configured for avoiding the generation of forces parallel to said axis y on said first phalanx of said finger, when said exoskeleton device passes between said open configuration and said closed configuration, said exoskeleton device characterized in that it comprises a second support having engagement means arranged to engage said second support to a second phalanx of said finger and in that said kinematic chain comprises furthermore: - a third stiff link connected to said second stiff link by a sixth rotational joint; - a fourth stiff link connected to said third stiff link by a seventh rotational joint and connected to said first stiff link by an eighth rotational joint; - a second slide connected to said second support and arranged to carry out a translation with respect to it along a axis y', said second slide being connected to said fourth stiff link by a ninth rotational joint; said second slide and said ninth rotational joint being configured for avoiding the generation of forces parallel to said axis y' on said second phalanx of said finger, when said exoskeleton device passes between said open configuration and said closed configuration. - a metacarpal support arranged to be integral to a metacarpal portion of a hand; - a first support having engagement means arranged to engage said first support to a first phalanx of said finger; - a kinematic chain arranged to connect said metacarpal support and said first support; - a linear actuator constrained to said metacarpal support by a first rotational joint and arranged to carry out a stroke x in a radial direction with respect to said rotational joint; - a first stiff link connected to said linear actuator by a second rotational joint; - a second stiff link connected to said metacarpal support by a fourth rotational joint and connected to said first stiff link by a fifth rotational joint; - a first slide connected to said first support and arranged to carry out a translation with respect to it along an axis y, said first slide being also connected to said first stiff link by a third rotational joint; - a third stiff link connected to said second stiff link by a sixth rotational joint; - a fourth stiff link connected to said third stiff link by a seventh rotational joint and connected to said first stiff link by an eighth rotational joint; - a second slide connected to said second support and arranged to carry out a translation with respect to it along a axis y', said second slide being connected to said fourth stiff link by a ninth rotational joint;