Abstract: A device (100) for measuring pose and/or motion of an operator's hand (1) comprising: a first link (10) being adapted to be fixedly held and the distal end (12) being coupled to a second link (20) so as to allow a rotation motion there between about a first axis (15); the second link (20) being coupled to a third link (30) so as to allow a rotation motion there between about a second axis (25), the second axis (25) being substantially perpendicular to the first axis (15); the first edge (41) of the parallelogram linkage (40) being coupled to the third link (30); the second edge (42) of the parallelogram linkage (40) being coupled to a fourth link (50); the fourth link (50) being coupled to a fifth link (60), a distal end (62) thereof being coupled to a sixth link (70); and a grasper (80) being operably coupled to the sixth link (70).