Haptic-Based Neurorehabilitation in Poststroke Patients: A Feasibility Prospective Multicentre Trial for Robotics Hand Rehabilitation

Table 1

Finger joint motion ranges.

Finger joint	Angular motion range (degrees)	Link size (mm)
MCP	−90≤𝜃1≤45	48.3
PIP	−120≤𝜃2≤0	28.2
DIP	−90≤𝜃3≤50	19.1

MCP: metacarpophalangeal; PIP: proximal interphalangeal; DIP: distal interphalangeal.