| 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 |