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SynGrasp: A MATLAB Toolbox for Underactuated and Compliant Hands
IEEE robotics & automation magazine
SynGrasp is a MATLAB toolbox for grasp analysis of fully or underactuated robotic hands with compliance. Compliance can be modeled at contact points, in the joints or in the actuation system including transmission. It is possible to use a Graphical User Interface or directly assemble and modify the available functions to exploit all the toolbox features. Grasps can be described either using the provided grasp planner or directly defining contact points on the hand with the respective contactdoi:10.1109/mra.2015.2408772 fatcat:alqurvjecfh7bp6ozj7mhuv5u4