Table 7.

Description of different metrics used by different devices

Measurement	Description
Extension torque	The torque applied by the device on finger extension
Grasping ability	Tested whether subject was able to grab various objects with assistance from the device
Grip force	The force exerted by the device attempting a grasping motion with subject completely passive
Max input force	Either the max input force supported by the device or the max input force required to achieve the desired functionality (pneumatic and hydraulic systems only)
Motion trajectory	Tracks the trajectory of the device/digits upon actuation
Opposition grasp force	The actuated force achieved while opposing the thumb
Pinch force	The force exerted by the device attempting a pinching motion with subject completely passive
ROM	Measurement of the rotations about the joints in the hands
Speed of movement	Speed of movement of the fingertip upon actuation
Tensile force	The max tension required to achieve desired function (cable systems only). It is the equivalent to max input force of pneumatic systems.