Research Article
Constraint Study for a Hand Exoskeleton: Human Hand Kinematics and Dynamics
Table 6
Statics constraints [
13].
| Finger | Flexion | Extension | Abd./add. |
| Thumb | | | | TMC | 50°–90° | 15° | 45°–60° | MCP | 75°–80° | 0° | 5° | IP | 75°–80° | 5°–10° | 5° | Index | | | | CMC | 5° | 0° | 0° | MCP | 90° | 30°–40° | 60° | PIP | 110° | 0° | 0° | DIP | 80°–90° | 5° | 0° | Middle | | | | CMC | 5° | 0° | 0° | MCP | 90° | 30°–40° | 45° | PIP | 110° | 0° | 0° | DIP | 80°–90° | 5° | 0° | Ring | | | | CMC | 10° | 0° | 0° | MCP | 90° | 30°–40° | 45° | PIP | 120° | 0° | 0° | DIP | 80°–90° | 5° | 0° | Little | | | | CMC | 15° | 0° | 0° | MCP | 90° | 30°–40° | 50° | PIP | 135° | 0° | 0° | DIP | 90° | 5° | 0° |
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