We have developed a robotic exoskeleton to restore and rehab hand and finger function. The robotic exoskeleton is a hybrid actuated mechanism rehabilitation system, in which each finger is attached to an instrumented lead screw mechanism allowing force and position control according to the normal human setting. The robotic device, whose implemented is based on biomechanics measurements, able to assist the subject in flexion and extension motion. It also compatible with various shapes and sizes of human‘s finger. Main features of the interface include an integration of DC servo motor and lead screw mechanism which allows independent motion of the five fingers with small actuators. The device is easily transportable, user safety precaution, and offer multiple mode of training potentials. This paper presents the measurements implemented in the system to determine the requirements for finger and hand rehabilitation device, the design and characteristic of the whole system.