Figure 2.

Static and dynamic acquisition of training data. The positions occupied by the right and left hand during data acquisition are represented, respectively, by solid and transparent cubes. (A) Static data acquisition was performed repeating and holding the grasp in each position, first with the hand palm facing up, then facing down, for a total of 18 repetitions for each hand. (B) During dynamic data acquisition, the grasp was maintained while moving the hands in a trajectory that interpolated the static positions with uniform speed. The trajectory consisted of two halves, from the circle to the square and back; it was followed with the palms down in the first half, and up in the second half. Both data acquisition routines were performed while wearing the bimanual prosthetic system.