Figure 2From: Electromyogram synergy control of a dexterous artificial hand to unscrew and screw objectsHardware overview. (a) The C6M Shadow Hand has 24 joints and 20 DOFs. (b) The kinematic diagram and digit/joint naming convention of the first finger and thumb of the Shadow Hand. The origin is designated by O and the y0 axis is into the page. Axes of rotation are visualized as black arrows. Axes of rotation perpendicular to the page are designated by an (X).Back to article page