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Computer simulation of surgery and scientific experiments help in preparation, training, and assessment. These benefits can be further extended with the integration of robotics for teleoperation and assistance. We describe our efforts to build a realistic and useable simulation for astronaut training and experiment planning. Most of our develop ment focused on user interaction with hand sensors, a necessary component for realism. For the hands, we developed a simulation and focused on aspects of fine tuning the registration and calibration to increase realism and functionality. This proved to b e a necessary basis to integrate robotics and further the simulation’s range of applications. Accurate registration, calibration, and robotic integration helped build a foundation for a useable simulation for astronaut training on ground and avenues of ro botic assistance during flight.