Studies related to hand-arm vibration, hand-tool handle ergonomics, and more generally the evaluation of hand-arm system work situations lack an efficient device to measure the force at the hand-handle interface. The instrumented glove presented in this article may provide a solution to this metrological need. Based on capacitive pressure sensors, it allows measurement of the pressure distribution at the hand-handle interface of tools. Devices tested in previous studies generally comprised a limited number of individual sensors. In contrast to these devices, our system is instrumented with sensor matrices allowing to place 219 sensors on the internal surface of the hand. The sensor arrangement has been designed to optimise the precision of measuring the pressure distribution of “Grip” type actions, while maintaining complete hand mobility. Taking the form of a glove, this measurement device will be easy to use and capable of being used on most tool handles. Ultimately, the glove will incorporate a hand posture measurement device allowing assessment of coupling force on the basis of pressure distribution without the need to know the geometry of the handle.