Hand motor tasks, even those commonly required by daily life activities, entail complex muscle activation. This article describes a self-contained experimental set-up for the objective kinetic and kinematic analysis of each finger function under several working conditions. Special attention is given to grasping and pressing under isometric conditions. The analysis of the contribution of the thumb is particular to this system. This system has proved accurate, reliable, easy-to-use, and suitable for applications in research environments, and as a support to clinicians for diagnosis and during rehabilitation.