MPL left and right hand models and the SHAP test suites were developed as a part of DARPA's HAPTIX program. Details:-
1) Modular Prosthetic Limb : http://www.jhuapl.edu/prosthetics/scientists/mpl.asp
2) DARPA HAPTIX: http://www.darpa.mil/program/hand-proprioception-and-touch-interfaces
3) SHAP test suites: http://www.shap.ecs.soton.ac.uk/
Modular Prosthetic Limb + SHAP test suites 1.31
Modular Prosthetic Limb from John Hopkins APL