Figure 6
From: Principal components analysis based control of a multi-dof underactuated prosthetic hand
Pre-calculated grasping trajectories. Pre-calculated xy trajectories used to drive the hand in the 3 different grasping prehensile forms. a) The three ideal linear trajectories (bold lines) and "right-angle" trajectories (thin lines) obtained moving along horizontal and vertical line segments. b) Ideal (bold dashed line), noisy (70 pixels maximum noise amplitude, solid line) and "right-angle" trajectories (thin dashed line) in the lateral grasp case.