The multi-fingered robot hand has much attention in various fields. Many robot hands have been proposed so far. However, the robot hand cannot execute any tasks autonomously because the robot hand does not have enough motion and sensing ability to task complexities. Therefore, we have developed a robot hand teleoperation system with the motion capture data glove CyberGlove. Here, each joint of the robot hand is controlled according to the corresponding joint of the human hand. In this paper, we develop the teleoperation method that the robot hand joint is controlled to the multiple human hand joints. The positional error of the fingertips can be decrease by using the multiple joints reference. We show the effectiveness of the developed method through some experiments.
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