 This paper proposes a roadmap for designing and selecting exoskeletons for hand rehabilitation, focusing on the technical features of soft, rigid, and hybrid devices with an impairment-oriented rationale. The clinical requirements are identified through a PICO-inspired approach, while the technical features are extracted from a proposed design process and narrative literature review. A cross-analysis between device families and features is presented to support the design and selection of exoskeletons for hand rehabilitation.