Relationship among Hand Forces Imparted on a Viscoelastic Hand-Handle Interface

•A new sensor is reliable for pressure measurement at a viscoelastic interface.•The sensor has low hysteresis and drift, good linearity and repeatability.•It can measure interface pressure to estimate contact forces on curved surfaces.•Relationships between hand forces are obtained for bare and gloved hand on a handle.•Higher grip strength demand was shown for a gloved hand compared to a bare hand.