SynGrasp: A MATLAB Toolbox for Underactuated and Compliant Hands

Monica Malvezzi, Guido Gioioso, Gionata Salvietti, Domenico Prattichizzo
2015 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 contact
more » ... mal directions. Several analysis functions have been developed to investigate the main grasp properties: controllable forces and object displacement, manipulability analysis, grasp stiffness and grasp quality measures. Functions for the graphical representation of the hand, the object and the main analysis results are provided. The toolbox is freely available at
doi:10.1109/mra.2015.2408772 fatcat:alqurvjecfh7bp6ozj7mhuv5u4