Overall estimation accuracy for the grasp type and size. Both grasp type and size were correctly estimated in 84% of the cases. In 3% of the cases, the type was correct and the size was larger than the correct one. We had the same number of cases (3%) in which the grasp was wrong but still similar enough for the subject to accomplish the task. Therefore, from the functional point of view, the classification was successful in 90% of the cases (all gray slices).