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

Table 6

Statics constraints [13].

Finger	Flexion	Extension	Abd./add.
Thumb
TMC	50°–90°	15°	45°–60°
MCP	75°–80°	0°	5°
IP	75°–80°	5°–10°	5°
Index
CMC	5°	0°	0°
MCP	90°	30°–40°	60°
PIP	110°	0°	0°
DIP	80°–90°	5°	0°
Middle
CMC	5°	0°	0°
MCP	90°	30°–40°	45°
PIP	110°	0°	0°
DIP	80°–90°	5°	0°
Ring
CMC	10°	0°	0°
MCP	90°	30°–40°	45°
PIP	120°	0°	0°
DIP	80°–90°	5°	0°
Little
CMC	15°	0°	0°
MCP	90°	30°–40°	50°
PIP	135°	0°	0°
DIP	90°	5°	0°