TABLE 2.

Summarization of MCP joint stiffness characteristic with different measurement approaches.

	MAS	θ0_m 1	[θi_m,γθ0_m]2	Ground-truth k_m (Nm/rad)3	km from SECA (Nm/rad)4	Difference
S1	1+	54°	[18°, 38°]	0.0849 (±0.0158)	0.0809 (±0.0025)	0.004 (±0.0066)
S2	2	64°	[34°, 45°]	0.5217 (±0.0436)	0.5011 (±0.0408)	0.021 (±0.0271)
S3	3	51°	[30°, 36°]	0.6362 (±0.0173)	0.6255 (±0.0231)	0.011 (±0.0135)
S4	1+	35°	[13°, 25°]	0.0930 (±0.0099)	0.0857 (±0.0106)	0.007 (±0.0067)
H1	–	45°	[10°, 32°]	0.0377 (±0.0032)	0.0316 (±0.0003)	0.006 (±0.0013)
H2	–	46°	[9°, 32°]	0.0328 (±0.0183)	0.0277 (±0.0004)	0.005 (±0.0077)
H3	–	40°	[10°, 28°]	0.0466 (±0.0057)	0.0408 (±0.0006)	0.006 (±0.0037)
H4	–	58°	[11°, 41°]	0.0393 (±0.0059)	0.0295 (±0.0026)	0.010 (±0.0027)

¹The resting MCP joint angle upon wearing of the SECA onto the index finger at zero pressure.

²The angle range for the calculation of MCP joint stiffness with the standard stiffness measurement device and our SECA.

³MCP joint stiffness measured by the standard stiffness measurement device.

⁴MCP joint stiffness measured by our SECA.