Design and Experiment of a Hand Movement Device Driven by Shape Memory Alloy Wires

Table 5

Average value of the maximum joint angle of our joints at different voltages (°).

Joint	Thumb	Index	Middle	Ring	Little	Average
MCP	22.1	36.9	27.4	26.3	37.7	30.1
PIP	6.9	54.4	57.7	49.8	42.3	42.2
DIP	40.7	28.9	26.7	25.6	24.6	29.3