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Just to let you know we've done some telepresence experiments with Openbionics prosthetic hand and ManusMachina glove.
Please see video about our experiments. Generally the hand worked very well, it was fairly easy and fun to grasp objects like bottle but something like a coin / pen is difficult. I guess nails could be added.
On the data side of things we commanded the hand through the usb terminal. We also got some pressure sensors but didn't have time to implement remote touching yet.
We're also involved in the Robots for Good project where we are helping with the telepresence side of things. You can find more info about that on the website
Any feedback and suggestions welcome!