Figure 2:

Passive torques defined in the “intrinsic-minus” model, including the passive elastic torques produced by intrinsic muscles and joint structures in the nominal model (black) and torques scaled to simulate increased joint laxity. For a given simulation with increased laxity, the torques in the nominal model were scaled to one of three different magnitudes (shades of grey).

Uniform scaling was implemented across the MCP, PIP, and DIP joints in a given simulation.