With the increasing aging population in China and the trend of younger onset of elderly diseases, more middle-aged and elderly people are suffering from stroke and related complications. Considering the increasing needs in rehabilitation service, exoskeletons for rehabilitation training have become a urgent solution. This article starts by analyzing the finger skeleton and designs a dorsal-style hand exoskeleton which assists patients in individual rehabilitation training for each finger, enabling them to perform simple grasping activities in daily life. Moreover, by using a single active driver, the exoskeleton can systematically drive the two adjacent joints of a patient's finger, ensuring that their movement aligns with the typical grasping patterns of a healthy individual. This design is more beneficial for the patient's rehabilitation. Finally, a comparison is made between the range of motion of the finger in a healthy state and when wearing the exoskeleton to ensure the safety of the exoskeleton.