[robotics-worldwide] SynGrasp: a freely available Matlab toolbox for ``Uderactuated Robotic Grasping'' developed by the University of Siena

Domenico Prattichizzo domenico.prattichizzo at gmail.com
Sat Nov 24 00:31:53 PST 2012

Dear Friends and Colleagues,

it is a pleasure to announce that SynGrasp, a new Matlab Toolbox on ``Uderactuated Robotic
Grasping'' that we developed at the University of Siena is now available at


The main features of the SynGrasp toolbox are:

- 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.

- development: the toolbox is intended to be a continuously growing toolbox. This can be possible
  also thanks to your help. Send us comments, suggest new functions to be included or report to us
  problems or code bugs and, even more importan, let us know if you are interested in developing
  modules or integrating your own modules in SynGrasp! The help syntax will be used to recognize the
  work of developers.

The toolbox is freely available and we plan to include more functions that you might suggest or


- the SynGrasp Team

Domenico Prattichizzo

Dipartimento di Ingegneria dell'Informazione e Scienze Matematiche 
Università di Siena 
via Roma 56, 53100 Siena 

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