Figure 3.

Finite State Machine demonstrating the opening/closing behavior of each finger on the prosthesis. $S_0$ indicates that the finger is entirely open; $S_1$, represents the flexion process triggered by the command c; $S_2$, indicates the finger is completely open (since $i_a>th$). Additionally, $S_3$ represents the extension process triggered by command o until $\theta \approx {\theta }_0$.