Abstract: This paper focuses on the inconsistency in motion spatial mapping of the master-slave fingertip caused by the inconsistent dimensions phenomenon of kinematics between human hand and robot dexterous hand. A data glove based on polyurethane strain sensors is made as data interface to measure the joint angles of the fingers. A fingertip motion trajectory calculation method and a hand gestures capturing algorithm are proposed based on rotation matrix theory and forward kinematics by establishing a master-slave kinematic model. The motion workspace boundaries of the master-slave fingertip are established by a fingertip motion mapping algorithm based on forward and inverse kinematics. A virtual experiment platform is established, and a series of experiments are performed for the joint angle mapping algorithm, the gesture motion capturing algorithm, and the fingertip motion mapping algorithm. The experiments show that the strain sensor based on polyurethane has good time response characteristic and electrical stability. The motion workspace boundaries of the master-slave fingertip are acquired based on the gesture motion capturing algorithm, and the calculation error of the fingertip motion trajectory is controlled within 2.8 mm. The results show that the combination of the hand gesture motion capturing algorithm and the fingertips motion mapping algorithm can achieve the consistency of master-slave fingertip motion space.