SynGrasp: A MATLAB toolbox for grasp analysis of human and robotic hands

Abstract

SynGrasp is a MATLAB toolbox developed for the analysis of grasping, suitable both for robotic and human hands. It includes functions for the definition of hand kinematic structure and of the contact points with a grasped object. The coupling between joints induced by an underactuated control can be modeled. The hand modeling allows to define compliance at the contact, joint and actuator levels. The provided analysis functions can be used to investigate the main grasp properties: controllable forces and object displacement, manipulability analysis, grasp quality measures. Functions for the graphical representation of the hand, the object and the main analysis results are provided.