TABLE III.
Significant Normalized Regression Coefficients for Grasp Quality With 95% Confidence Intervals on N + 1 Topology. Two-Finger Grasp
| Parameter | Expected Percentage Increase in Quality for a 1% Increase in Parameter Value | 95% Confidence Interval | |
|---|---|---|---|
| Link length | Link 2 | -0.436 | (-0.466, -0.406) |
| Link 1 | -0.333 | (-0.363, -0.302) | |
| Link 3 | -0.290 | (-0.320, -0.260) | |
| Max tension | Tendon 1 | 0.995 | (0.265, 1.03) |
| Tendon 2 | – | – | |
| Tendon 3 | – | – | |
| Tendon 4 | – | – | |
| Tendon 5 | – | – | |
| Moment arm | 1,1 | 1.01 | (0.975, 1.04) |
| 1,5 | -0.593 | (-0.623, -0.564) | |
| 2,5 | 0.553 | (0.522, 0.583) | |
| 2,4 | 0.272 | (0.243, 0.302) | |
| 1,4 | -0.259 | (-0.289, -0.228) | |
| 2,3 | 0.159 | (0.128, 0.190) | |
| 1,3 | -0.143 | (-0.174, -0.112) | |
| 1,2 | – | – | |
| 2,2 | – | – | |
| 3,3 | – | – | |
| 3,4 | – | – | |
| 3,5 | – | – | |
| 4,4 | – | – | |
| 4,5 | – | – | |
‘–’ Denotes not significant at the cutoff p-value of 0.05. Moment arms expressed as (joint number, tendon number). R2 = 0.930.