... inputcontrol signals. Trajectories in the inputs space (i.e. cou-plings of the two input s ignals), where a brupt changes in the predominance of one of the input signals overthe other one do ... stops.When the finger moves idling (that is, without contact-ing any object), the kinematics of such an underactuatedfinger depends on the length of the links/phalanxes, onthe radii of the pulleys ... bi-directionally interfa-cing with the hand was implemented using LabWindowsCVI (National Instruments Corp., Austin, TX, USA).The software, running on a standard PC and graphicallypresented in Figure...