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

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

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...

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Hauptverfasser: Malvezzi, Monica, Gioioso, Guido, Salvietti, Gionata, Prattichizzo, Domenico, Bicchi, Antonio
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Cost function
Force
Grasping
Jacobian matrices
Joints
Kinematics
Robots
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creator Malvezzi, Monica
Gioioso, Guido
Salvietti, Gionata
Prattichizzo, Domenico
Bicchi, Antonio
description 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.
doi_str_mv 10.1109/ICRA.2013.6630708
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subjects Cost function
Force
Grasping
Jacobian matrices
Joints
Kinematics
Robots
title SynGrasp: A MATLAB toolbox for grasp analysis of human and robotic hands
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