The underactuated deed exoskeleton was designed to contribute contribution to purloin slot/completion tasks . Kinematically, all of the fingers except the pollex have 3DoF inflection/extension and 1DoF retroduction/adduction movements, while the handle has 3DoF flexion/augmentation and 2DoF abduction/adduction movements.

https://untappedreviews.com/the-backpack-electricity-system-review/