The invention relates to a hand exoskeleton device having a modular nature. The device is designed to be wearable, portable and light in weight, and comprises from one to ten modules each having an actuating mechanism such as a linear actuator coupled with an artificial tendon having a flexible cable or shaft encased into a sheath and an elastic, stretchable portion on its distal end. The exoskeleton allows controlling flexion-extension of the fingers, while keeping natural somatosensorial interactions with the environment surrounding the users. The device is useful to e.g. assist and restore hand functions of users with motor disabilities both during activities of daily living and in neurorehabilitative scenarios, as well in other scenarios such as virtual reality.