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Two sensors based on optical fiber were constructed, one for finger joint angles and the other for fingertips\u2019 contact force. Three sensor fabrications were tested for the angle sensor by axially rotating the sensors in four positions. The configuration with the most similar response in the four rotations was chosen. The chosen sensors presented a polynomial response with R2 higher than 92%. The tactile force sensors tracked the force made over the objects. Almost all sensors presented a polynomial response with R2 higher than 94%. The system monitored the prosthesis activity by recognizing grasp types. Six machine learning algorithms were tested: linear regression, k-nearest neighbor, support vector machine, decision tree, k-means clustering, and hierarchical clustering. To validate the algorithms, a k-fold test was used with a k = 10, and the accuracy result for k-nearest neighbor was 98.5%, while that for decision tree was 93.3%, enabling the classification of the eight grip types.<\/jats:p>","DOI":"10.3390\/s23073364","type":"journal-article","created":{"date-parts":[[2023,3,23]],"date-time":"2023-03-23T02:35:26Z","timestamp":1679538926000},"page":"3364","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":13,"title":["Soft-Sensor System for Grasp Type Recognition in Underactuated Hand Prostheses"],"prefix":"10.3390","volume":"23","author":[{"given":"Laura","family":"De Arco","sequence":"first","affiliation":[{"name":"Telecommunications Laboratory (LabTel), Electrical Engineering Department, Federal University of Esp\u00edrito Santo (UFES), Vit\u00f3ria 29075-910, Brazil"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Mar\u00eda Jos\u00e9","family":"Pontes","sequence":"additional","affiliation":[{"name":"Telecommunications Laboratory (LabTel), Electrical Engineering Department, Federal University of Esp\u00edrito Santo (UFES), Vit\u00f3ria 29075-910, Brazil"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Marcelo E. V.","family":"Segatto","sequence":"additional","affiliation":[{"name":"Telecommunications Laboratory (LabTel), Electrical Engineering Department, Federal University of Esp\u00edrito Santo (UFES), Vit\u00f3ria 29075-910, Brazil"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0972-098X","authenticated-orcid":false,"given":"Maxwell E.","family":"Monteiro","sequence":"additional","affiliation":[{"name":"Federal Institute of Esp\u00edrito Santo (IFES), Serra 29040-780, Brazil"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6942-865X","authenticated-orcid":false,"given":"Carlos A.","family":"Cifuentes","sequence":"additional","affiliation":[{"name":"Bristol Robotics Laboratory, University of the West of England, Bristol BS16 1QY, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9657-5076","authenticated-orcid":false,"given":"Camilo A. R.","family":"D\u00edaz","sequence":"additional","affiliation":[{"name":"Telecommunications Laboratory (LabTel), Electrical Engineering Department, Federal University of Esp\u00edrito Santo (UFES), Vit\u00f3ria 29075-910, Brazil"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2023,3,23]]},"reference":[{"key":"ref_1","unstructured":"DATASUS (2023, January 21). Amputa\u00e7\u00e3o Desarticula\u00e7\u00e3o de Membros Superiores, Available online: http:\/\/tabnet.datasus.gov.br\/cgi\/tabcgi.exe?sih\/cnv\/qiuf.def."},{"key":"ref_2","unstructured":"SISPRO (2023, January 21). ASIS Disability Indicators, Available online: http:\/\/rssvr2.sispro.gov.co\/reportesAsis2."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"209","DOI":"10.3389\/fnins.2016.00209","article-title":"Literature review on needs of upper limb prosthesis users","volume":"10","author":"Cordella","year":"2016","journal-title":"Front. 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