I improved by taking time and looking at hands. Try googling images of hands and using those images as a model on which to base a drawing.
You can also look at the underlying anatomy to understand how the bones, muscles and tendons work together. Understanding anatomy vastly improves your ability to translate the figure to paper.
Finally, and this is a general tip for drawing anything: Don't draw objects: Draw light. Concern yourself with the shadows; get the shadows right and the object will magically appear. As a test, shine a bright light on an object from the side and, without outlining, capture the shadows; you'll see how shadows define an object's volume better than outlines do. Focusing on the shadow areas will elevate your drawing from the flat two-dimensional paper, giving it volume and making it more lifelike. Of course, some lines are necessary to help you find your way around the subject, but keep them loose and light because in the end it's the shadows that define the object.
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