Figure 4

CyberHand postures distribution. CyberHand postures over the Ch ₁ ,Ch ₂ input signals plane, sampled using a 5×5 grid. Blue, red or dark green backgrounds are used to denote areas corresponding to those hand configurations which are functional for achieving respectively a power, precision or lateral grasp. Faded colours are used to indicate areas where more than one grasp type could be achieved. A black background denotes the open-hand neutral position.