Purpose To identify the dexterity of spacesuit gloves, they need to undergo bending tests in the development process. The ideal way is to place a humanoid robotic hand into the spacesuit glove, mimicking the motions of a human hand and measuring the bending angle/force of the spacesuit glove. However, traditional robotic hands are too large to enter the narrow inner space of the spacesuit glove and perform measurements. This paper aims to design a humanoid robot hand that can wear spacesuit gloves and perform measurements. Design/methodology/approach The proposed humanoid robotic hand is composed of five modular fingers and a parallel wrist driven by electrical linear motors. The fingers and wrist can be delivered into the spacesuit glove separately and then assembled inside. A mathematical model of the robotic hand is formulated by using the geometric constraints and principle of virtual work to analyze the kinematics and statics of the robotic hand. This model allows for estimating the bending angle and output force/torque of the robotic hand through the displacement and force of the linear motors. Findings A prototype of the robotic hand, as well as its testing benches, was constructed to validate the presented methods. The experimental results show that the whole robotic hand can be transported to and assembled in a spacesuit glove to measure the motion characteristics of the glove. Originality/value The proposed humanoid robotic hand provides a new method for wearing and measuring the spacesuit glove. It can also be used to other gloves for special protective suits that have highly restricted internal space.