The Maestro hand exoskeleton operates at three coordinate domains: robot joint space, finger joint space, and fingertip Cartesian space. Based on previous work and four-bar linkage principles, I calculated the human-robot system’s forward kinematics and inverse kinetics. The forward kinematics use robot joint angle measurements to estimate fingertip position, which can then be used to implement virtual environments at the fingertip. The inverse kinetics are used to map desired fingertip interaction forces back to desired robot joint torques, which are then commanded to the Maestro hand exoskeleton. This project highlighted importance considerations and shortfalls of the modeling process, such as sensitivity to parameter errors and sensor calibration.