Rigged hand finger bend from MPU6050

Hello,
I have been working on a project on VR glove.
the idea is to have 5 orientation sensors(MPU6050) on the end of each finger and get finger orientation in space from them. I'm reading the information as a quaternion from serial port, and everything is working fine. The question is how do I make the hand rig, add constraints and most importantly - how do I map that rotation to position of the finger. Do I make an animation and set it to a different frame based on the position? Or are there any good IK solvers that can help me with this problem? Thank you in advance. Any tips are appreciated.
EDIT: I made the following example pictures. The first one is the right behaviour im looking for, the second is wrong. Hope that helps

 

Warning: What follows is assumption and guess work. Done a bit of mocap but not this approach. Far from an expert.

I'm not sure Unity has an off the shelf Ik solution. Maybe something off the Unity market could meet your needs. If there IS you could create the simple skeleton in Blender, Maya, etc and export. Inside Unity you would use its toolset to setup the Ik chain. Your position data would be pumped into the Ik handle which would drive the whole finger Ik chain up to the last knuckle joint.

You can setup Ik chains in Blender, Maya, etc but I do not think those export. Atm, Unity expect simple FK skeletons there the complex animation is baked down in your content creations tools and then exported to Unity. (again, there are exceptions and I could be operating on outdated info)

Other option if to go old school and track the orientation /rotation of each joint and pump the data into the respective finger joint..

 

Yes, after finding no better solution I decided to go with the old school approach and track the rotations of each joint using potentiometers.