During the last two months  we focused on the following aspect.

• The  algorithm  for mapping  human  synergies onto  robotic  hands  with  dissimilar  kinematic  structures has been tested  through  several simulation  with  a three  fingers eight joints  fully actuated hand  model.  In particular, improvements  with respect  to existing in literature mapping  algorithm  have been demonstrated.

• The DLR-HIT  II hands  has been installed  at UNISI. Major functionalities of the hand and the user interface have been tested.  The implementation of our mapping  procedure in this robotic hand  has started.

• The hardware  of the instrumented object which consists of the instrumented core sensors and the electronics has been completed.  Calibration, testing and software development have progressed significantly and are ongoing activities.

The DLR-HIT II hand @ UNISI