Possible to have customized hands with no skinning/rigging, replacing the robot hand in VR template?

If you create a new hand skeletal mesh with the exact bone structure/names as the original one in the VR template (open the MannequinHand_Right_Skeleton and have a look at how it is organized), you can import it and retarget all the animations to it. Basically you can swap it in place of the standard robotic hand and it will work.