JOINT CONTROL

Degrees of freedom

Anatomical couplingDIP follows PIP at 67%

Rigid-link kinematics22 independent inputs · 26 modeled axes

No soft tissue, tendon dynamics, tactile sensing, or true contact-force physics.

-80°80°

-70°80°-30°20°

0°35°

-20°90°-18°25°0°110°0°80°

-20°90°-12°12°0°110°0°80°

-20°90°-20°15°0°110°0°80°

-20°90°-30°20°0°110°0°80°

-35°50°-15°55°0°65°0°65°-12°15°-10°80°

Index MCP4°

SELECTED JOINTIndex MCP

Knuckle flexion / extension

-20°4°90°

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