Figure 5

Finger dynamics while closing at full speed. Left Y axis: finger joint trajectories (metacarpo-phalangeal joint, MCP, proximal-interphalangeal, PIP and distal-interphalangeal, DIP, ranging between 0 and 90 degreees). Right Y axis: tendon shortening dynamics (Ten trace, ranging between 0 to 22 mm); superimposed on the graph are the maximum velocity (V1, V2 and V3) values, which are influence by the springs stiffness in the finger.