Abstarct: Today, the use of robots and rehabilitation mechanisms in improving physical conditions is increasing. In the meantime, wearable mechanisms and robots, also called exoskeleton mechanisms, are important. This study aimed to design a six-bar mechanism as a finger exoskeleton. For this purpose, Stephenson I was selected, and its kinematic analysis was performed. Also, the optimal path for designing the mechanism was extracted by studying the finger's limbs and bones and analyzing their movement. Then, the mechanism was optimized to pass the desired accuracy points using two mexta-heuristic algorithms, genetic algorithm, and particle swarm algorithm. In comparison between the two methods, the particle swarm algorithm had a minor error and extracted a more suitable mechanism. An approximately 22% reduction in error at this stage compared to a reference using another six-bar mechanism indicates the effectiveness of the Stephenson I for this problem. To simplify the manufacturing of the mechanism, the use of flexural joints in the mechanism was investigated. The use of these joints makes integrated mechanism construction possible and reduces construction costs. Due to the rotation range of six joints in the designed mechanism, the possibility of using flexural joints in these locations was initially investigated. All of these joints were such that flexural joints could be used. Then, to design flexure joints, by examining the relationships of some of the different joints, the joint geometries were designed for all mechanism joints. Finally, a complete mechanism was designed and prototyped with flexural joints.