Finger joints include the metacarpophalangeal or MP, proximal interphalangeal or PIP, and distal interphalangeal or DIP joints. The thumb has 5 DoF including 1 at the DIP, 2 at the PIP, and 2 at the MP. Each other finger (i.e., index, middle, ring, and fifth) has 4 DoF, including 1 at the DIP, 1 at the PIP, and 2 at the MP.