Table 3.

Comparisons of measured and simulated forces and moments of free pinch.

	Thumb			Index			Thumb	Index
	Fi [N]	Fj [N]	Fk [N]	Fi [N]	Fj [N]	Fk [N]	Mk [Nm]	Mk [Nm]
Measured	0.98	0.52	− 3.03	0.97	− 0.62	3.11	− 0.0052	− 0.0010
Simulated
I	0.93	0.32	− 1.69	1.01	− 0.32	1.69	0.0000	− 0.0002
II	0.78	0.02	− 1.68	1.17	− 0.02	1.68	0.0001	− 0.0002