Hand function loss deeply impacts daily activities, highlighting the need for effective rehabilitation strategies. Robot-assisted therapy provides a convenient option for independent rehabilitation, while bilateral therapies enhance motor recovery by leveraging hemispheric interaction and inter-limb coordination. This study introduces a hand robotic rehabilitation platform designed for bilateral therapies using the Leap Motion Controller. The robotic exoskeleton employs an under-actuated linkage mechanism, allowing direct control the motion of the metacarpophalangeal (MCP) joints. In bilateral therapies, the exoskeleton worn on the affected hand replicates the movements of the unaffected hand detected by the Leap Motion Controller. MCP angles are calculated using the dot product of vectors from the metacarpals and proximal phalanges and then used to drive the robot accordingly. A six-week clinical trial was conducted at Centro Hospitalario Benito Menni, involving 13 participants. Results indicated improved performance and ease of control with the robot. Participants found the platform highly usable and effective in motor recovery, experiencing minimal fatigue during sessions.