What is the best way to retarget your hand to robotic hand?

Hi. I want to retarget from my hand motion to robot hand.

This is the system I want to set. Input → system → output

Input : my hand’s wrist pose(x,y,z, roll, pitch, yaw) and five finger tip(each of x,y,z)
output : joint angles of the retargetted robot hand .

Can you recommend which is the best system to do this?
thanks!