The World Health Organization (WHO) estimates that 15 million people are affected by stroke each year, causing deterioration of the upper limb, which is reflected in 70-80% of them, decreasing the performance of daily activities and quality of life, mainly affecting hand functions. Thus, the purpose of this study is to present a high-quality alternative to recover muscle tone and mobility, consisting of a hand-exoskeleton for passive rehabilitation. It covers a motion protocol for each finger and pressure sensors to give a safety pressure range during the gripping function. The bio-design method covers standards (ISO 13485 and VDI 2206) based on biomechanic and anthropometric fundamentals, where Fusion 360 was used for mechanical development and electrical-electronic circuit schematics. The prototyping process was based on 3D printing using polylactic acid (PLA); also, the actuators were...