Journal of Robotics / 2013 / Article / Fig 2

Research Article

Constraint Study for a Hand Exoskeleton: Human Hand Kinematics and Dynamics

Figure 2

Kinematic configuration of the human hand. The thumb is defined by 3 links and 4 degrees of freedom whereas index, middle, ring, and little fingers are defined by 4 links and 5 DoFs.
910961.fig.002

Article of the Year Award: Outstanding research contributions of 2020, as selected by our Chief Editors. Read the winning articles.