Abstract
The objective of this study was to investigate the kinematic characteristics of the human index finger. Multiple evaluation functions with regard to the kinematic characteristics were tested. For example, they were the manipulability measure, the condition number. The significant difference of evaluation function values of all subjects was examined by analysis of variance table. As a result, all subjects did not have the common kinematic characteristics. However, it was possible that 80 percent of subjects had the common kinematic characteristic in which the motion of the tip of the index finger was controlled by the angular velocity input whose size was minimum.
