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Table 1 Actuation units minimum closing and opening times

From: The SmartHand transradial prosthesis

Actuator Stroke Closing time [s] Opening time [s]
Index 22 mm 1.47 1.36
Thumb flexion 10 mm 0.67 0.62
Thumb abduction/adduction 90 deg 1.00 0.90
AGM 22 mm 1.53 1.27