Cosplay of armored characters has always been challenging (in part) because of the difficulty in designing the articulation of the joints. This articulated frame solves that problem for the hands (arguably the most complex part of many an armored costume). Instead of creating new geometry from scratch, cosplayers can attach armor panels to the frame itself, which already has properly placed hinges.
This design is the result of two years of revisions, and continues to evolve. The design process involved lots of trial and error: ordering a 3D print, seeing how the glove did or did not fit, and revising the 3D model. I also consulted models of the human skeleton, so that I could design proper joints and improve the overall geometry.
The current frame here fits me, a 5'9" average human male with somewhat slender fingers. In the future I hope to create a parametric model that can output gauntlets for people of other sizes.