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Table 1 The experimental trial comprised of seven object interaction

From: Improving bimanual interaction with a prosthesis using semi-autonomous control

Interaction number& type

Target object

Object start location

Reach the object with

Grasp the object from

Manipulate the object by

Object target location

1; BI-SYNC

Pipe (horizontal)

Shelf 3;

Synchronously bilaterally

Above; palmar grip

Rotating it to vertical orientation

Shelf 2; Position 3

2; BI-ASYNC

Ball

Shelf 1; Position 2

Sound hand unilaterally

Above; palmar grip

Rotating it 180° and handing it over to the prosthesis

Shelf 2; Position 2

3; BI-ASYNC

Box

Shelf 1; Position 1

Sound hand unilaterally

Side; palmar grip

Handing it over to the prosthesis

Shelf 2; Position 1

4; BI-SYNC

Tray

Shelf 3;

Synchronously bilaterally

Below; lateral grip

–

Shelf 4;

5; BI-SYNC

Pipe (vertical)

Shelf 2; Position 3

Synchronously bilaterally

Side; palmar grip

–

Shelf 1; Position 3

6; UNI (hand)

Ball

Shelf 2; Position 2

Sound hand unilaterally

Above; palmar grip

–

Shelf 1; Position 2

7; UNI (prosthesis)

Box

Shelf 2; Position 1

Prosthesis unilaterally

Side; palmar grip

Rotating it to horizontal orientation

Shelf 1; Position 1