Anthropomorphism Index of Mobility for Artificial Hands

Table 7

Range of motion of the hand joints (in degrees) obtained in the human grasp experiment.

	Thumb (°)				Index (°)			Middle (°)		Ring (°)			Little (°)
	F	A	F	F	F	A	F	F	F	F	A	F	F	A	F
	CMC	CMC	MCP	IP	MCP	MCP	PIP	MCP	PIP	MCP	MCP	PIP	MCP	MCP	PIP
Min	-27	0	-24	-32	-22	-9	0	-16	0	-13	-7	-1	-13	-7	-2
Max	32	28	13	42	51	24	62	65	66	68	16	76	69	12	68
P5	-6	0	-10	-5	-4	-3	1	-1	1	-1	-1	1	-3	-1	0
P95	15	19	2	17	30	9	36	40	42	30	8	49	26	7	40

CMC: carpometacarpal joint, MCP: metacarpophalangeal joint, PIP: proximal interphalangeal joint, DIP: distal interphalangeal joint, IP: interphalangeal joint, F: flexion (+)/extension (-), A: abduction (+)/adduction (-), P: percentile.