Figure 8.

Skin relocatability measurement of the phantom hand H02 (A) and of a male participant (B). The images are captured from a camera and show the superposition of images before and after displacement (δ). A 500 gram weight is attached to one end of a string, whereas the other end is centrally glued with a double-sided adhesive tape onto the back of the hands. (C) Checkerboard pattern with known length scales for a pixel-to-length unit transmission and camera lens distortion correction. (D) 3D printed phantom hands evaluation: Expert surgeon results grouped in percental positive (mean of rather positive, positive and very positive; blue) and negative (mean of rather negative, negative and very negative; red) participant feedback according to haptic, bone palpability, elasticity, softness, and skin relocatability. The evaluation contained the phantom hands H01 and H02 (see Table 1).