Optimal Position Fuzzy Control of an Underactuated Robotic Finger

Table 1

Ranges for flexion/extension movements comparison.

Phalanx	Length of the prototype (mm)	Range of human hand movement	Range of prototype movements
Distal (index and middle)	14	0–90°	0–85°
Middle (index and middle)	38.16	0–90°	0–75°
Proximal (index and middle)	41.89	0–90°	0–75°