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. 2021 Dec 10;8:741807. doi: 10.3389/frobt.2021.741807

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Copyright © 2021 Ficuciello, Villani, Lisini Baldi and Prattichizzo.

This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.

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Graphic representation of thumb indeterminacy in retractor method with two reachable positions, in the correct one in (A) the thumb is between middle and index to allow the hand to reach the position scoop-like while in wrong one, depicted in (B), the thumb is in opposition respect the other two fingers and the reached posed of MUSHA hand is equal to approach pose in power grasp method. This is a consequence of the high similarity between the virtual spheres generated by the contact points in the Rt case and in the Po case.