| Prosthesis | DOF | No. of actuators |
| Proposed Hand prosthesis | 9 | 4 |
| UOM Trans-radial Prosthesis [16] | 7 | 3 |
| DEKA RC Gen3 arm [19] | 6 | 4 |
| Vanderbilt Multigrasp Hand [20] | 9 | 4 |
| FluidHand III [21] | 8 | 5 |