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. 2023 Jul 5;11:1188996. doi: 10.3389/fbioe.2023.1188996

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Copyright © 2023 Heung, Li, Wong and Ng.

This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.

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(A) Equivalent model of the actuator for analyzing the grip force at MCP and PIP joint respectively, and estimated grip force and measured joint angle during (B) palm grasp of a bottle and (C) end grasp a pen.