Fig. 8

Cost function scale for the references for hand opening (VE₁) and hand closing (VE₃). Exemplary hand postures are depicted with corresponding cost function values J. For the cost function value “0”, the defined reference postures are depicted for both scales, because a value of “0” means that the generated hand posture equals the reference exactly. The little finger is depicted in gray, because it was not utilized in the experiments and thereby in the cost function. For better illustration, it was assigned the same joint angles as the ring finger