Table 4.

Calibration chart for finger joint angles.

(i) DIP Flexion–Extension of Finger				(ii) PIP Flexion–Extension of Finger
Flexor motor’s angular position θF (°)	Extensor motor’s angular position θE (°)	MCP lock motor’s angular position θML (°)	DIP joint angle (approx.) θd (°)	Flexor motor’s angular position θF (°)	Extensor motor’s angular position θE (°)	MCP lock motor’s angular position θML (°)	PIP joint angle (approx.) θp (°)
51	0	0	60	80	0	0	90
48	7	0	55	75	6	0	85
44	12	0	52.5	70	12	0	80
41	16	0	50	65	18	0	75
38	21	0	45	60	24	0	70
34	26	0	40	55	30	0	62.5
31	28	0	35	50	37	0	47.5
28	33	0	32.5	45	43	0	42
25	35	0	25	40	49	0	37.5
21	40	0	20	35	55	0	32.5
18	45	0	17	30	61	0	27.5
15	50	0	14	25	67	0	22.5
11	54	0	10	20	73	0	17.5
8	57	0	8	15	79	0	12.5
5	61	0	5	10	85	0	7.5
3	64	0	2.5	5	91	0	2.5
0	67	0	0	0	97	0	0
(iii) DIP and PIP Flexion-Extension of Finger				(iv) MCP Flexion-Extension of Finger
Flexor motor’s angular position θF (°)	Extensor motor’s angular position θE (°)	MCP lock motor’s angular position θML (°)	DIP + PIP joint angle (approx.) θdp (°)	Flexor motor’s angular position θF (°)	Extensor motor’s angular position θE (°)	MCP lock motor’s angular position θML (°)	MCP joint angle (approx.) θm (°)
98	13	0	95	110	0	0	65
91	24	0	90	103	4	9	60
85	35	0	85	95	7	13	58
78	45	0	79	88	9	18	55
71	56	0	70	81	11	22	50
65	65	0	56	73	13	26	40
58	75	0	50	66	15	31	33
52	84	0	43	59	18	35	30
45	95	0	36	51	20	40	25
38	105	0	31	44	22	44	20
32	117	0	25	37	24	48	18
25	127	0	19	29	26	53	16
19	137	0	14	22	29	57	12
12	146	0	9	15	31	62	8
7	156	0	3	7	33	66	4
0	164	0	0	0	35	70	0