Table 2: Classification of the DoF depending on the type of actuation and numeric coefficient associated.

ClassType of actuation of the DoF

ADoF actuated by one independent motor or actuator1
BDoF underactuated with other DoFs without a rigid coupling, allowing adaptive grasps (tendons, elastic elements)0.75
CDoF underactuated with other DoFs with a rigid coupling, not allowing adaptive grasp (linkages)0.5
DNo actuation on the DoF, but passive motion allowed0.25
EDoF absent in the artificial hand0