DLR OpenSim human hand model
OpenSim_human_hand_model.zip

supplementary material to 

Stillfried, Georg and Hillenbrand, Ulrich and Settles, Marcus and van der Smagt, Patrick (2014) 
MRI-based skeletal hand movement model
In: The Human Hand as an Inspiration for Robot Hand Development Springer Tracts in Advanced Robotics. Springer.

http://elib.dlr.de/85039/