Fig. 4

Prosthesis behavior is automatically regulated during the bimanual interactions. a1–3) In BI-SYNC mode, the prosthesis automatically rotates congruently to the sound limb and adjusts its grip type, so that the object can be grasped with both hands. b) In BI-SYNC mode, after the object has been grasped, the prosthesis rotation continues to be atomatically adjusted to facilitate bimanual manipulation. c) In BI-ASYNC mode, the prosthesis automatically matches the rotation of the sound hand so that the palms of both hands always point towards each other in order to facilitate successful object transfer. After the object has been grasped, the control is switched to manual