Table 5: Parameter (equation (2)) for each group of DoFs for the different artificial hands.

Artificial handF/EAB/ADP.ARCT.OPP

IMMA0.480.2500.50
Cyborg Beast0.29000.18
Flexy-Hand0.390.2500.23
KIT0.47000.35
ADA0.580.2500.40
i-Limb0.58000.55
Bebionic0.50000.50
SensorHand0.13000.10
Michelangelo0.13000.30
FRH-40.4600.500.40
Barrett0.250.3800.30
DLR/HIT II0.83100.70
Shadow0.8310.501

F/E: finger flexion-extension, AB/AD: finger abduction-adduction, P.ARC: palmar arching, T.OPP: thumb opposition.