According　to　the　main　joint　movement　of　the　hand,　this　paper　proposes　a　single　finger　mechanism　model　containing　two　man-machine　closed　chain　for　a　hand　exoskeleton,　which　is　based　on　the　kinematics　model　of　the　hand.　In　order　to　increase　the　man-machine　compatibility,　one　of　the　human-machine　closed　chain　is　the　planar　five　bar　mechanism　including　two　human　joints　and　three　mechanical　revolute　joints,　which　has　one　degree-offreedom(DOF),　the　flexion　and　extension　of　each　human　joint　can　be　realized.　Another　man-machine　closed　chain　is　the　spatial　six　bar　mechanism　including　one　human　joint,　four　mechanical　revolute　joints,　and　one　cylindrical　pair,　which　has　two　DOF,　the　flexion/extension　and　the　abduction/adduction　movements　of　human　joint　can　be　realized.　Two　man-machine　closed　kinematic　model　are　analyzed,　and　got　the　finger　joint　motion　position　solution.　The　above　study　will　provide　a　theoretical　basis　for　further　motion　planning　and　control.　©　2018　IET　Conference　Publications.　All　rights　reserved.