Table 2.

Coordination types of one SE and two natural limbs with representative tasks. Representative types are arranged in a matrix where the rows denote the dependence of the task goals for each hand and the columns whether there is a coupling present.

Targets hands	All coupled	Two coupled	All uncoupled
All dependent	Manipulating an elastic membrane	Camera for endoscopy	Triangulation (e.g. of laser beams)
Two dependent	Drawing on a table with the balance of the table maintained by two arms	Holding a box with two arms while opening a door with the other limb	Tying shoelaces with two hands while holding an object
All independent	Holding a board and at the same time fixing its two ends	Screwing a part to a circuit board while collecting the next part	Multi-object pick and place