Table 2.

Detailed description of the bimanual tasks in the performance evaluation phase.

Task	Name	Description
	Napkin	A napkin is placed on the middle shelf, unfolded. Take it, bring it to the dining table, and fold it twice.
	Table	A plate and a glass are laid out next to each other on the top shelf. Bring them to the dining table, put the plate on the folded napkin and the glass next to it. A fork and a knife are on the middle shelf. Bring them to the dining table and place them on the two sides of the plate. Move two objects at the same time if the prostheses seem reliable.
	Water	A bottle containing some fine gravel is on the dinner table. Pick it up with one hand, unscrew the cap with the other hand, pour the gravel into the glass, put the bottle back on the table with the cap next to it.
	Food	A spoon and two small balls with diameters of 3 and 6.5 cm are contained in a bowl that is placed on the dining table. Take the plate with one hand and the spoon with the other, then use the spoon to bring the balls from the bowl to the plate.
	Phone	A cordless phone is connected to its base station on the middle shelf. Take it with one hand, dial 9-1-1 with the index finger of the other hand, and then put the phone back in place.
	Sweep	A hand broom and a dustpan are positioned on the lower shelf, while some clothespins lie on the floor next to a trash bin. Take the broom with one hand and the dustpan with the other, walk to the clothespins, bend, and sweep the clothespins off the floor. Then empty the dustpan into the trash bin and bring the broom and dustpan back to their original location.
	Shirt	A dress shirt and a hanger are placed on the table. Use both hands to put the shirt on the hanger, then hang the hanger on the clothesline.
	T-shirt	A t-shirt is positioned on a table and two clothespins are pinned to a vertical rod in front of the clothesline. Pick the t-shirt up with two hands, bring it to the clothesline, put it on the wire, and pin it with the clothespins.