The article poses the problem of managing a virtual model of anthropomorphic capture using a sensor system. The sensors determine the movements of the fingers of the operator’s hands in order to formulate the laws of control of the gripper in the copy mode. The analysis of the most famous existing anthropomorphic grips (Robonaut Hand, Shadow Dexterous Hand, EH1 Milano Hand, SVH Hand) is carried out. The obvious advantages of the SVH Hand manipulator from SCHUNK are revealed. The connection of the model in the framework for programming robots – Robot Operating System (ROS) and working out the values of the positions specified using the test file is shown. An experimental system has been developed – a control glove, consisting of rotation sensors to determine the movement of the index finger (by analogy, a model will be developed for four other fingers). The experimental system is connected with the virtual model by connecting the glove to the Arduino Uno board, which in turn is connected to a personal computer to transmit the values of the sensor position changes. In conclusion, the direction of future research is determined, such as developing a design for all fingers and adding feedback to transmit tactile information to the operator from touch sensors.