SynGrasp

SynGrasp is a MATLAB toolbox for the analysis of grasping, suitable both for robotic and human hands.
The coupling between joints induced by an underactuated control, and can be easily modeled, and the compliance at the contact, joint and actuator level can be easily defined.
There are plenty of analysis functions that can be used to investigate 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 also provided.
In general, the main features are the following:
■ Hand modeling: robotic hand models can be easily defined. Four hand models are already available: an anthropomorphic hand, a 3-fingered hand, a modular hand and the DLR/HIT II Hand.
■ Grasping modeling: the grasping hand configuration, contact points, Grasp and Jacobian matrices can be computed. Controllable internal force subspace, rigid-body motion, manipulability ellipsoids can be evaluated.
■ Grasp analysis: different grasp quality measures are available in the toolbox. Tools for the evaluation of the optimal force distribution are provided. Furthermore, the toolbox allows to perform kinematic and force manipulability analysis, taking into account the joint coupling induced by the underactuation and hand compliance.
■ Graphics: a set of functions have been designed to simplify the graphical representation of the manipulator. These functions can be used together with built-in Matlab functions to render the hands in contact with objects of arbitrary shapes. Moreover motions due to synergy activation can be visualized.