Update:
Up till now i always planned on the gloves being built round a glove, and while good in theory it wasnt in practice as you cant get inside it.
After staring and rotating them for a few hours i had an epiphany. The fingers need to be able to close and then reopen, returning to a baseline position, or in other words, the joins stretch out. Enter elastic! Previously I glued the fingers onto a rubber glove, but when i bent the fingers it went pear shaped. This time the fingers are totally independant.
Each finger is split into 3 parts, each part lines up with the next all the way to the finger. Along the top of each finger, the part that will open, is a strip of 1 inch wide elastic, going from the tip to about 1 inch past the base of the finger. The center of each finger has a blob of glue, only enough to stick a 1cm circle of the elastic to the foam. This gives lots of elastic to stretch, but doesnt put pressure on the glue joint. A big blob of glue is placed on that excess at the base and thats glued inside the hand. The result is flexable fingers that sit open when not in use but that can close! The handplate is also secured with elastic to allow movement, but is seperate from the forarm so it can rotate.
All thats left is a once over to check things work and then a test fit with the undersuit!
On the one hand im so glad i made it to the end as after a year it was getting bleak, but looking at a complete built, and seeing all the things ive learnt from the trial and (many) errors in fabricating it, im sure it was worth it. After all, whats more conplicated to built then a full body exosuit!