Chapter 2. Prehension

Appendix D - Prosthetic and Robotic Hands 421
Figure D.3 The Belgrade/USC hand. It consists of four fingers and
one thumb. The four fingers have one degree of freedom generated
from three coupled degrees of freedom at the joints. The thumb has
two degrees of freedom, allowing for flexion/extension and
adduction/abduction (from Bekey et al., 1990; reprinted by
permission).