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

Table 6

Angular maximum displacement for each joint of all five fingers (°).

Joint	Thumb	Index	Middle	Ring	Little
MCP	25.1	39.7	28.1	29.0	44.2
PIP	15.0	58.3	62.2	57.6	48.4
DIP	71.6	33.3	38.9	42.1	27.3