Illustration of the model and local coordinate systems.

(A) and (B) Musculotendinous paths from anatomical origins to insertions on the skeleton are illustrated with red lines with selected labels. (C) Coordinate systems for each segment are illustrated with the color-coded cartesian exes in red, yellow, and green for x-, y- and z-axes respectively. Euler angles around these axes represent joint angles. The illustrated posture of the model corresponds to all joint angels at zero. The local coordinate systems are shown only for thumb and index finger. The coordinate systems of the other digits follow the orientation of the coordinate systems for the index finger.