Fig. 4
From: Exploring augmented grasping capabilities in a multi-synergistic soft bionic hand
An example of the system driving the hand control from fine pinch to index point. Panel a shows the pattern recognition classifier and the reference motor position of both actuators is presented in b. Once the classifier detects the index point class, the system commands the actuators of the artificial hand towards the new gesture. The control input is proportional to the muscle activation and commands the two motors in opposition, to move the hand from fine pinch to index point. It is also possible to stop in intermediate configurations