Figure 1

Power, precision and lateral grasp. The CyberHand performing the three main grasps as defined by [43]. A) Power grasp: all palmar surfaces of the fingers (as well as the palm) are involved and the thumb is in opposition to other fingers. B) Precision grasp: thumb, index and middle fingertips are involved with the thumb in opposition space. C) Lateral grasps: the thumb opposes to the volar aspect of the index.