Resultant force of the compensated gloved prosthesis.

Showing the averaged measured force (solid) with standard deviation (grey) and compared to the original gloved prosthesis (dotted). Input energy and hysteresis are also shown for the compensated prosthesis. Both spring stiffness (k) and stabilization band thickness (t) were varied. Arrows indicate the direction of the curves, distinguishing loading and unloading curves. Notice how the direction of the curves have been reversed, creating a voluntary closing prosthesis.