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 | Flexion + / Extension – |
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) |