Table 4.

Average peak angles and associated pressure values averaged for 10 subjects for each of the 5 fingers compared between 2 conditions of pneumatic actuator with and without the steel layer.

Peak Angles and Associated Pressures for 10 Subjects
		Average Values for Peak Angle, Associated Pressure, and Standard Error				% Difference of with vs. without Steel
Finger	Condition	Angle (Degrees)	Standard Error for Angle	Pressure (kPa)	Standard Error for Pressure	Angle (%)	Pressure (%)
Thumb	without steel	61.17	3.97	92.27	2.32	3.63	−4.79
	with steel	58.95	4.43	96.69	3.07
Index	without steel	85.80	4.12	81.98	4.11	−1.42	1.46
	with steel	87.02	5.39	80.78	2.71
Middle	without steel	64.81	4.92	95.71	1.64	6.71	−2.37
	with steel	60.46	4.39	97.98	3.00
Ring	without steel	69.70	6.86	90.90	2.23	20.29	−8.24
	with steel	55.56	5.22	98.39	2.01
Pinky	without steel	97.97	6.69	96.28	2.69	24.36	−1.85
	with steel	74.11	5.89	98.06	1.84