Fig. 2

The components comprising the experimental setup. A myoelectric interface was used to proportionally control the Michelangelo hand prosthesis using hand and wrist flexor and extensor muscles. The subject was visually- and sound-isolated from the real prosthesis and instead monitored the virtual gripper shown on the computer screen. The gripper received online sensor data from the prosthesis (aperture and force) and thereby replicated the behavior of the real system. The virtual scene also included the visual feedback about the generated force, target force and myoelectric activity from the flexor and extensor muscles