Research Article
Constraint Study for a Hand Exoskeleton: Human Hand Kinematics and Dynamics
Table 3
Mean length of the hand and of the phalanges of index, middle, ring, and little fingers (cm).
| ā | Hand | I1 | I2 | I3 | M1 | M2 | M3 | R1 | R2 | R3 | L1 | L2 | L3 |
| Male right hand | 19.29 | 2.32 | 2.37 | 2.65 | 2.60 | 2.78 | 2.80 | 2.29 | 2.56 | 2.76 | 1.96 | 1.92 | 2.51 | Male left hand | 19.36 | 2.32 | 2.39 | 2.61 | 2.60 | 2.82 | 2.75 | 2.30 | 2.59 | 2.78 | 1.95 | 1.98 | 2.49 | Female right hand | 17.60 | 2.23 | 2.24 | 2.45 | 2.44 | 2.55 | 2.56 | 2.12 | 2.34 | 2.52 | 1.79 | 1.74 | 2.26 | Female left hand | 17.62 | 2.20 | 2.24 | 2.35 | 2.24 | 2.43 | 2.53 | 2.13 | 2.36 | 2.49 | 1.77 | 1.77 | 2.26 |
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