Anthropomorphism Index of Mobility for Artificial Hands

Table 1

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

Groups of DoFs	Joints 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.