The rest of this paper is organized as follows. Section \ref{rel} focus on the current development of hand exoskeletal device on both rigid mechanics and soft robotics, and also includes the applications of kirigami-inspired structure in the current engineering field. Section \ref{design} focus on the design of the mechanical system, the manufacturing method used in production of the prototype, and the design of the actuator system. Section \ref{Results} focus on the experiments conduct on the finger mechanical system, and the experiment on the full system with the discussion of the result. Section \ref{Conclusions} concludes the paper with recommendations of further works in the future.