The 'Grasp and Lift' paradigm with our Closed-Loop prosthetic hand. Healthy subjects were fitted with a modified i-limb Pulse prosthetic hand with a two-channel differential force controller. Grip-force feedback was delivered to their arm using a vibrotactile feedback array (see methods). They were instructed to grasp, lift and replace a low-friction object (inset 1-5). A typical trajectory (showing grip force, object and thumb elevation, and grasp aperture) is also shown.