MCP joint [Degrees]

PIP joint [Degrees]

DIP joint [Degrees]

Human hand [17]

0 - 90

0 - 110

0 - 70

Simulation results (with 3D model)

0 - 90

3 - 104

0 - 82

Experiment results (with fabricated hand prosthesis)

0 - 90

5 - 90

2 - 88