This work is supported in part by the European Re-
search Council under the Advanced Grant SoftHands “A
Theory of Soft Synergies for a New Generation of Artificial
Hands” (no. ERC-291166), by the EU FP7 project “WEAR-
able HAPtics for Humans and Robots (WEARHAP)” (no.
601165) and by the EU H2020 project “SoftPro: Synergy-
based Open-source Foundations and Technologies for Pros-
thetics and RehabilitatiOn” (H2020-ICT-688857).