To evaluate the appropriate angle for arthrodesis of the index finger proximal interphalangeal (PIP) joint, the functional range of motion (ROM) of the joints and manipulabilities at three selected tip-pinch manipulation postures of the finger were studied experimentally under imposed PIP joint arthrodesis angles. A kinematic model of the index finger was used in experiments which involved three postures. Experiments were conducted using seven healthy subjects in tip-pinch manipulation tasks to obtain the measurements of finger motions under imposed angles of joint constraint, including the functional ROM of the joints and the three criteria of kinematic manipulability. Data show that the functional ROM and the shape of the kinematic manipulability ellipses at the fingertip were influenced significantly by the imposed PIP joint constraint in the tip-pinch manipulation tests. Results suggest that a PIP arthrodesis angle between 40° and 60° led to the optimal performance of fingers in grasping and manipulation of fine objects. This theoretical and experimental study can help surgeons and clinicians to make more informed decisions on the appropriate constraint angles before the arthrodesis operation, and to customize this angle for individual patients in order to enhance not only the capability of manipulation of the finger but also the quality of life after such intervention.