Fig 4. SoftHand Pro training.

An example progression through training starting from simple, repeated grasp tasks (top row, left two) to real-world tasks exploring the work space (top row, right two) to coordinated bimanual tasks, including hobby and leisure activities (middle row). The bottom row shows a participant practicing using environmental constraints to pick up a coin (US penny) from a table. The movement (left to right) starts with pre-grasping, proceeds to blocking the thumb against the table edge, closing the fingers to meet the table and coin, sliding the coin to the edge while bringing the thumb up to meet it, and ends with grasp completion.