Improvement in hand function to promote functional recovery is one of the major goals of stroke rehabilitation. This paper introduces a newly developed exoskeleton for hand rehabilitation with a user-centered design concept, which integrates the requirements of practical use, mechanical structure, and control system. The paper also evaluated the function with two prototypes in a local hospital. Results of functional evaluation showed that significant improvements were found in ARAT (P = 0.014), WMFT (P = 0.020), and FMA_WH (P = 0.021). Increase in the mean values of FMA_SE was observed but without significant difference (P = 0.071). The improvement in ARAT score reflects the motor recovery in hand and finger functions. The increased FMA scores suggest there is a motor improvement in the whole upper limb, and especially in the hand after the training. The product met patients' requirements and has practical significance. It is portable, cost-effective, easy to use and supports multiple control modes to adapt to different rehabilitation phases.