Figure 4

CyberHand postural behaviour. A grid representing hand postures distribution over the xy screen reference system (monitor screen size is 1280 × 800 pixels, w × h). Circular yellow markers indicate those mouse pointer positions used to drive the hand until the corresponding posture was reached. When the mouse is positioned in correspondence of the red marker, open hand configuration is obtained. The solid, dotted and dashed-dotted lines delimit those areas in which respectively power, precision and lateral grasps can be achieved.