Meet the UT Hand Skeleton: a 3D printed, cable-driven solution for rehabilitation and teleoperation. It supports your thumb, index, and middle finger and doesn’t weigh a whole lot. The exoskeleton has 8 DOF and 16 sensors for torque and angle sensing. It has a 4-bar mechanism to prevent joint misalignment.
This solution simply provides support for your hand when holding and grasping objects. Reneu Lab has more info on it here.