Table 1: Joints and degrees of freedom (DoFs) of the human hand corresponding to the four different groups of DoFs defined.

Groups of DoFsJoints and DoFs of the human hand

Finger flexion-extension
(F/E)
MCP2_Flexion
PIP2_Flexion
DIP2_Flexion
MCP3_Flexion
PIP3_Flexion
DIP3_Flexion
MCP4_Flexion
PIP4_Flexion
DIP4_Flexion
MCP5_Flexion
PIP5_Flexion
DIP5_Flexion

Finger abduction-adduction
(AB/AD)
MCP2_Abduction
MCP3_Abduction
MCP4_Abduction
MCP5_Abduction

Palmar arching
(P.ARC)
CMC5_Flexion
CMC4_Flexion

Thumb opposition
(T.OPP)
CMC1_Flexion
CMC1_Abduction
MCP1_Flexion
MCP1_Abduction
IP1_Flexion

1: thumb, 2: index finger, 3: middle finger, 4: ring finger, 5: little finger; CMC: carpometacarpal joint, MCP: metacarpophalangeal joint, PIP: proximal interphalangeal joint, DIP: distal interphalangeal joint, IP: interphalangeal joint; 16 joint angles measured during the experiment with the CyberGlove.