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. Author manuscript; available in PMC: 2010 Mar 11.
Published in final edited form as: IEEE ASME Trans Mechatron. 2007 Aug 1;12(4):399–407. doi: 10.1109/TMECH.2007.901928

TABLE I.

Specified joint ranges of motion

Finger/Index MCP 45° Extension 90° Flexion
Finger/Index PIP 0° Extension 110° Flexion
Thumb CMC 20° Abduction 45° Adduction
Thumb CMC 20° Extension 60° Flexion
Thumb MP 10° Extension 60° Flexion
Thumb IP 20° Extension 90° Flexion