Fig. 8
From: Kinematic synergies of hand grasps: a comprehensive study on a large publicly available dataset
Bar and error plots representing mean and standard deviation of the loadings of different joints for the 12 synergies considered. The picture highlights the joint correlations represented by each synergy. Positive values represent flexion for PIP (2–5)_F, IP1_F, MCP (1–5)_F, WRIST_F, CMC5_F and CMC1_F; abduction for CMC1_A; radial deviation for WRIST_A; and fingers separated for MCP (3–4, 4–5)_A