You can download Senso Plugin for Unity3D from here. Once downloaded you import the package into your project. Also you can get sample project to better understand how it works here. Please note you need to open Scenes/demo_scene when you load sample project.
Now you have GameObject components needed for working with Senso Glove.
This is the main component that should be presented in the scene. There are public variables for setting SensoHost address, hands to manage and camera orientation source.
SensoHost address and port: by default it is set to 127.0.0.1:53450. In case Senso UI is loaded on the different computer than the one where the project is running you will need to set it to the location of those machine.
Hands - this is an array of transforms of all hands you want to be managed by Senso plugin. Those hands should have SensoHand component.
Camera orientation source - if set, SensoManager will pass Yaw of those object to Senso UI so it could refine orientation of hands in relation to head. I usually set it to main camera controlled by Oculus/Vive driver.
This is a component that needs to be added to every hand. It receives Senso samples and sets flag sampleChanged to true. Also it calls appropriate methods in SensoPalm and SensoFingerTip components in child game objects. You will want to inherit from this class and use SensoHandData to actually pose your hand. Please see MySensoHand class in sample project.
Contains parsed sample received from Senso UI. All rotations except fingers are stored in form of quaternions. There are WristRotation and PalmRotation. Fingers' pose is stored in form of Vector3 with x=0. Y is the yaw of the finger and should be applied to the first bone of the finger. Z axis is the pitch and is applied to every finger bone proportionally (I have come to multiplier of 0.5 but I found that it depends on hand model). Please see MySensoHand.SetSensoPose method for example on how to use SensoHandData.
Other Senso components
There are also SensoPalm and SensoFingerTip components. They are served for specific gameplay physics and interactions so it is subject for later communication while developing the game.