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).
