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

Table 10

Percentages of stiffness, damping, and inertial torques with respect to the total torque.

	MCP	PIP	DIP
𝑓𝑘𝑗	38.05%	38.48%	38.58%
𝑓𝑐𝑗	57.58%	60.59%	61%
𝑓𝑑𝑗	4.37%	0.93%	0.42%