The Matlab code presented was developed by the Biomechanics and Ergonomics Research Group (Universitat Jaume I) to calculate hand joint angles from CyberGlove instrumented gloves raw data. Gains used to calculate joint angles are those obtained for the instrumented gloves of the Biomechanics and Ergonomics Research Group. Each instrumented glove has to be calibrated accordingly to the protocol proposed by Gracia-Ibáñez et al.1, and gains in the "gains_identification.m" function have to be replaced with the gains obtained. The article where calibration protocol is described1 has to be cited in case of using the code presented. [1] Gracia-Ibáñez, V., Vergara, M., Buffi, J.H., Murray, W.M., Sancho-Bru, J.L. Across-subject calibration of an instrumented glove to measure hand movement for clinical purposes. Computer Methods in Biomechanics and Biomedical Engineering. 20(6):587-597. (2017). https://doi.org/10.1080/10255842.2016.1265950 (v2 contains detailed comments in functions to improve code usability)