Table 1 DoFs in the hand configurations.

From: Independent Long Fingers are not Essential for a Grasping Hand

Configuration DoF in the wrist DoFs in the hand Total DoFs
A Pronation/supination 3: Open/close fingers, thumb flexion/extension, thumb abduction/adduction 4
B Pronation/supination 22: all DoFs in the natural hand 23
C Pronation/supination 1: open/close all digits 2