How to mimic this hinge system for Iron Man gauntlet?

[spartacus1]

You may have seen this incredible functional gauntlet created by Laser Gadgets: Laser Tool - LASER GADGETS by Patrick Priebe

I'm not trying to do anything overly fancy like that, but I really do like the way it opens and closes around the arm. How would I go about creating something similar to that mechanism?

 

[XRobots]

I'm doing something like that with my forearms. Detailed pictures here, plus the STL file download if you want to 3D print your own mechanism:

XRobots.co.uk - Iron Man MkVI Suit Arm Mechanism