Figure 4.
(a) Experimental platform consisted of IH2 Azzurra artificial hand (Prensilia S.r.l.; Peccioli, Italy) mounted onto nondisabled splint, three-site surface electromyography (EMG) acquisition system, Southampton Hand Assessment Procedure (SHAP) briefcase, and door handle task. (b) IH2 Azzurra artificial hand with nine joints (circles) and five motors (dashed circles, ring and little fingers are coupled as shown by solid line).