ResearchBenchmarksFingertip Tracking Error on OakInk Circle-square trajectoriesFollow0.009Thumb Tracking Error (mm)Full0.008760.010380.0120.01362Jun 18, 2026Evaluation ResultsMethodMethodLinksThumb Tracking Error (mm)Index Tracking Error (mm)Overall Tracking Error (mm)FullDoF=5DoF=52026.060.00910.8515.43MimicDoF=5DoF=52026.060.0151.2950.655