In recent years, with the development of exoskeleton technology, it has been widely applied in the area of rehabilitation. However, in the rehabilitation of neurological diseases such as cerebral stroke, the rehabilitation of hands exists multifaceted difficulties. Long treatment period, choices of therapeutic schedule and costly treatment are common factors that affect the efficiency of rehabilitation. To improve hands exoskeleton’s therapeutic effect in the neurological rehabilitation. A considerable number of papers have been studied and the development trend of hands exoskeleton was revealed. This review focuses on the wearing comfort of hands exoskeleton, since wearing comfort is an essential factor when launching arm exoskeleton on the market. This article elaborates on the methods of improving exoskeleton’s wearing comfort based on rigid mechanism design and soft or flexible hand exoskeleton design. This article mainly discusses the improving control system and adapted materials, aiming at finding the similarities and differences among various solutions. Pictures concerning each method are also provided for better understanding. Besides, this article provides conclusive perspectives on the existing design and expectations for the further studies.