 This study proposes a new kinematic chain for the mobilization of the metacarpophilangial, MCP, joint of the long fingers, which can be integrated into an exoskeletal device for rehabilitative purposes. The proposed mechanism has been designed to be compatible with the human joint, allowing for natural movement while minimizing parasitic torques. Additionally, it has been shown to accurately estimate the MCP joint angle and track torque, making it suitable for use in a clinical setting. This article was authored by Emanuele Peperoni, Stefano Lazlo Capitani, Tommaso Fumalbi, and others.