Creating hands

The hands are something that I am finding very challenging to create - they are fairly complicated, and they also require a fair amount of movement when they will be animated. I have decided to create them in armoured gauntlets, to go with the rest of his armour. So far, I have created a hand like shape by combining various cylinders and spheres, creating knuckles across the joins. However, I have found that the underside of the hand isnt looking right, as it isnt flat. I intend to improve upon this.