Table 1 DoFs in the hand configurations.

From: Independent Long Fingers are not Essential for a Grasping Hand

Configuration

DoF in the wrist

DoFs in the hand

Total DoFs

A

Pronation/supination

3: Open/close fingers, thumb flexion/extension, thumb abduction/adduction

4

B

Pronation/supination

22: all DoFs in the natural hand

23

C

Pronation/supination

1: open/close all digits

2

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