Journal of Robotics / 2013 / Article / Tab 6

Research Article

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

Table 6

Statics constraints [13].

FingerFlexionExtensionAbd./add.

Thumb
 TMC50°–90°15°45°–60°
 MCP75°–80°
 IP75°–80°5°–10°
Index
 CMC
 MCP90°30°–40°60°
 PIP110°
 DIP80°–90°
Middle
 CMC
 MCP90°30°–40°45°
 PIP110°
 DIP80°–90°
Ring
 CMC10°
 MCP90°30°–40°45°
 PIP120°
 DIP80°–90°
Little
 CMC15°
 MCP90°30°–40°50°
 PIP135°
 DIP90°

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