Figure 1

Schema of the 15 DoF kinematic model considered. All these joints were measured during the experiments. Nevertheless, because of the glove technology, “coupled abductions” of the fingers (i.e., abduction angle between fingers) were recorded (A12, A23, A34, A45) instead of individual abduction (A1, A2, A4, A4, A5) of each finger. Fx PIP stands for finger x Proximal Inter-Phalangeal joints and Fx MP for finger x Metacarpal-Phalangeal joints. The Distal Inter-Phalangeal joints are not considered as they are coupled with and proportional to the Proximal Inter-Phalangeal (PIP) joints.