Constraint Study for a Hand Exoskeleton: Human Hand Kinematics and Dynamics

Table 3

Mean length of the hand and of the phalanges of index, middle, ring, and little fingers (cm).

	Hand	I1	I2	I3	M1	M2	M3	R1	R2	R3	L1	L2	L3
Male right hand	19.29	2.32	2.37	2.65	2.60	2.78	2.80	2.29	2.56	2.76	1.96	1.92	2.51
Male left hand	19.36	2.32	2.39	2.61	2.60	2.82	2.75	2.30	2.59	2.78	1.95	1.98	2.49
Female right hand	17.60	2.23	2.24	2.45	2.44	2.55	2.56	2.12	2.34	2.52	1.79	1.74	2.26
Female left hand	17.62	2.20	2.24	2.35	2.24	2.43	2.53	2.13	2.36	2.49	1.77	1.77	2.26