Control system architecture. The Cognitive Vision System (CVS) is integrated into a hierarchical control system for the control of a dexterous prosthetic hand (emulated by the CyberHand prototype). The user triggers the system and controls the orientation of the hand. A high-level controller autonomously selects the grasp type and size that are appropriate for the target object. A low-level controller embedded into the hand provides a stable interface for preshaping and grasping.