Table 1 Default joint-angle references for the cost function of three VEs
VE | Joint angle references | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
α | g α | β | g β | MCPα | g MCP | PIP | g PIP | DIPref | g DIP | |
VE1 | -20 ∘ | 1 | 0 ∘ | 0.5 | -5 ∘ | 0.25 | 0 ∘ | 0.25 | 5 ∘ | 0.25 |
VE2 | -15 ∘ | 1 | 0 ∘ | 0.25 | 20 ∘ | 0.5 | 52 ∘ | 0.5 | 40 ∘ | 0.5 |
VE3 | -15 ∘ | 1 | 0 ∘ | 0.25 | 20 ∘ | 0.5 | 52 ∘ | 0.5 | 40 ∘ | 0.5 |