HyPro: A Multi-DoF Hybrid-Powered Transradial Robotic Prosthesis

Table 5

Powering methods to actuate grasping patterns.

Control input signal	Mechanism				Output
	External power for hand preshaping			Body power for grasp execution
	Slider tendon A	Slider tendon B	Thumb motor	Slider tendon C + thumb flexor tendon
Power	Idle	Idle	1st position	Pulled	Power grasp
Tip	Pulled	Idle	2nd position	Pulled	Tip grasp
Index	Pulled	Idle	3rd position	Idle	Index point
Lateral	Idle	Pulled	3rd position	Pulled	Lateral grasp
Hook	Idle	Pulled	3rd position	Idle	Hook grasp