From: Kinematic synergies of hand grasps: a comprehensive study on a large publicly available dataset
PIP(2–5)_F, IP1_F, MCP(1–5)_F
Flexion + / Extension –
WRIST_F
WRIST_A
Radial deviation + / Cubital deviation -
MCP(3–4, 4–5)_A
Fingers separated + / Fingers together -
CMC5_F
Flexion +/Extension -
CMC1_F
Flexion +/Extension – (See Fig. 4)
CMC1_A
Abduction +/Adduction - (See Fig. 4)