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Data-driven methods have lead to advances in multiple fields including robotics. These methods however have had limited impact on dexterous hand manipulation, partly due to lack of rich and physically-consistent dataset as well as technology able to collect them. To fill this gap, we developed a virtual reality system combining real-time motion capture, physics simulation and stereoscopic visualization. The system enables a user wearing a CyberGlove to "reach-in" the simulation, and manipulate virtual objects through contacts with a tele-operated virtual hand. The system is evaluated on a subset of tasks in the Southampton Hand Assessment Procedure - which is a clinically validated test of hand function. The system is also being used by performer teams in the DARPA Hand Proprioception & Touch Interfaces program to develop neural control interfaces in simulation. The software is freely available at www.mujoco.org.
Kumar et al. (2015) studied this question.