Fig. 2

Basic interactions for a dynamic hand orthosis. The device consists of several components which can be categorized into the signal, energy and mechanical domain. Gray arrows represent signal traffic, which can be made of visual or auditory stimuli, as well as electrical currents used for artificial control or the nervous system. Black arrows indicate physical interactions in the form of forces and motions. The human interacts with the device through its mechanism, but additional interactions can be provided through the command signal or user feedback