With increasing use of robots instead of human in industrial, medicine and military applications etc.the importance of research on designing and building of robots is increasing. In this paper variousmethods of the human hand motion simulation has been investigated and we used one of most commonmethod named Data-gloves which extract data from hand and then we simulated hand motion duringseveral processing stages. At first step we designed and built circuits to digitize analog data receivedfrom sensors and we sent them to computer. Then we received extracted data in MATLAB andprocessed them to simulate bending of the wrist and fingers joints graphically. In this method wemapped data linearly to 0-90 and rotate points around relative Coordinate axis in the specificconditions. Results show that we can simulate hand motion in real time with low cost, lowest error andwithout complex and expensive equipments. Manuscript profile