Table 2 Terminal device related observations

Loading car, carrying items for more than 8m distance.

Useful grip for cut out box handles, not useful for recessed grip grooves. Limb positioning effect [90, 91] with sudden drops^a.

No problem. Great balance for posture^c.

No problem. Requires focus to keep cable tense (VC paradigm).

No problem. Great balance for posture.

Taking notes holding notepad in the field

Feasible but not ideal. Clumsy grip types with unforeseeable force vectors^b.

No problem.^c

No problem but requiring focus to keep cable tense (VC paradigm)^b.

No problem.

Undressing body

Grip by far too weak^b.

Good support, finding right angle for best grip requires attention^b.

Perfect support, top application domain for VC control paradigm.^c

Perfect support due to shape and built-in grip lock.

Turning or transporting body (Fig. 11a-h)

Grip by far too weak. Suspension started to come off^b.

Good support, but grip forces sometimes not large enough^b.

Perfect support, top application domain for VC control paradigm.^c

Good support, but grip forces sometimes not large enough^b.

Lab work (Fig. 11i-k)

Grip too weak. Limb positioning effect [90, 91] with sudden drops^a. Unforeseeable grip force vectors [93]^b.

Good support, but grip forces sometimes not large enough.

Perfect support, top application domain for the VC control paradigm^c.

Good support, but grip forces sometimes not large enough.

Cleaning, disinfecting terminal device.

Costly thin cosmetic glove not to be replaced by user; no work rubber glove to be worn according to manufacturer [89].

Metal split hooks easy to swap or disinfect. Wearing thick rubber glove over hook device not technically difficult and not prohibited by manufacturer.

Wearing rubber glove fingers to TRS prehensor allows for easy disinfection; not prohibited by manufacturer specifications.

Becker hand fits humanly used rubber protection gloves, that can be worn as they both fit well and are not prohibited by manufacturer specifications.

Typing

COG too far in front, device too heavy. Device shape and weight cause shoulder pain. Suspension results in severe friction problems on stump skin after long typing^ab.

Perfect.^c

Good, but Hosmer 5XA has the better angle^b.

COG too far in front, and Hosmer 5XA has the better angle^b.

Meetings, presentations

Grip problems as the hand does not handle large pens with difficult to tear of caps well. Loud source of distraction [96, 97]^b.

Handles paperwork and pens well.

Handles paperwork and pens well.

Perfect, least amount of distraction with grip suited well to typical tasks^c.

Soft covers for terminal device

Gloves very thin to avoid impeding hand mechanism. Perforating damage [87], as soon as 10 min into light work. Approved gloves costly, only sold by manufacturer.

Silicone tubing affordable, easy to mount, enhance form closure. Under full work load, replace after 1–2 weeks.

Sheet rubber, double sided tape and work glove nitrile fingers are placed on the claws to enhance form closure. Under full work load, replace after 1–2 weeks.

Fits humanly worn normal work gloves such as nitrile work gloves to enhance form closure and grip. Under full work load, replace after 1–2 weeks.