If it will be in 3D, start reading Java 3D and similar 3D apis in Java. 3D is themost mature 3D api but based on your situation, youcan decide to use another 3d api.
If this hand will have some kinematic, you will need to read related documents about kinematics and reverse kinematics too.
Swing can allow you to have an application with menus and you can embed 3D view into a panel inserted into your window. Alternatively, you can implement your application as an applet so that it will work inside browser. But don't expect it to work on other computers without installing the 3D api that you will decide to use.
For other questions, we are here. But don't expect us to implement your project
