Table 2.

D-H parameters for the hand skeleton in Figure 2 (units: mm).

	${\mathit{l}}_{\mathit{i}}$	${\mathit{\alpha }}_{\mathit{i}}$	${\mathit{d}}_{\mathit{i}}$	${\mathit{\theta }}_{\mathit{i}}$
i = 0	80	0	0	$-{\theta }_{CMC}$
i = 1	46	0	0	$-{\theta }_{MCP}$
i = 2	27	0	0	$-{\theta }_{PIP}$
i = 3	24	0	0	$-{\theta }_{PID}$