... University of Pavia, Via Ferrata 1, 27100 Pavia, Italy.2ARTS Lab, Scuola Superiore Sant’Anna,V.le Piaggio 34, 56025 Pontedera (PI), Italy.3EUCENTRE Foundation, ViaFerrata 1, 27100 Pavia, Italy.Authors’ ... precision grasps.Drawbacks are due to the applic ation of a human handbased mapping onto an underactuated system, whichmechanically only approximates the natural hand (jointsrotation axes placement, ... analysis based control of a multi-dof underactuated prosthetic handGiulia C Matrone1*, Christian Cipriani2, Emanuele L Secco3, Giovanni Magenes1, Maria Chiara Carrozza2AbstractBackground:...