IEEE Robotics & Automation Magazine - December 2015 - 52

SynGrasp
A MATLAB Toolbox for Underactuated and Compliant Hands

IMAGE LICENSED BY GRAPHIC STOCK

By Monica Malvezzi, Guido Gioioso,
Gionata Salvietti, and Domenico Prattichizzo

S

ynGrasp 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 (GUI) or directly assemble and
modify the available functions to exploit all of the toolbox
features. Grasps can be described either using the provided
grasp planner or by directly defining contact points on the
hand with the respective contact normal directions. Several
analysis functions have been developed to investigate the

Digital Object Identifier 10.1109/MRA.2015.2408772
Date of publication: 4 September 2015

52

*

IEEE ROBOTICS & AUTOMATION MAGAZINE

*

DECEMBER 2015

main grasp properties: 1) controllable forces and object displacement, 2) manipulability analysis, and 3) grasp stiffness
and quality measures. The functions for the graphical representation of the hand and object as well as the main analysis results are provided. The toolbox is freely available at
http://syngrasp.dii.unisi.it.
Human Hand Synergies
Syngrasp is a MATLAB function collection providing algorithms and tools for the current research on compliant and
underactuated robotic hands. In the last decade, robotic
hand design has particularly focused on joint coupling and
compliant devices [1]. In the first approach, a reduction of
the number of degrees of freedom (DoF) is obtained by
coupling joint motions using tendons [2] or fixed mechanical couplings [3]. In the second, passive or active compliance is introduced at different levels, improving
adaptability properties and gaining robustness with respect
to uncertainties [4].
1070-9932/15©2015IEEE



http://syngrasp.dii.unisi.it

Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - December 2015

IEEE Robotics & Automation Magazine - December 2015 - Cover1
IEEE Robotics & Automation Magazine - December 2015 - Cover2
IEEE Robotics & Automation Magazine - December 2015 - 1
IEEE Robotics & Automation Magazine - December 2015 - 2
IEEE Robotics & Automation Magazine - December 2015 - 3
IEEE Robotics & Automation Magazine - December 2015 - 4
IEEE Robotics & Automation Magazine - December 2015 - 5
IEEE Robotics & Automation Magazine - December 2015 - 6
IEEE Robotics & Automation Magazine - December 2015 - 7
IEEE Robotics & Automation Magazine - December 2015 - 8
IEEE Robotics & Automation Magazine - December 2015 - 9
IEEE Robotics & Automation Magazine - December 2015 - 10
IEEE Robotics & Automation Magazine - December 2015 - 11
IEEE Robotics & Automation Magazine - December 2015 - 12
IEEE Robotics & Automation Magazine - December 2015 - 13
IEEE Robotics & Automation Magazine - December 2015 - 14
IEEE Robotics & Automation Magazine - December 2015 - 15
IEEE Robotics & Automation Magazine - December 2015 - 16
IEEE Robotics & Automation Magazine - December 2015 - 17
IEEE Robotics & Automation Magazine - December 2015 - 18
IEEE Robotics & Automation Magazine - December 2015 - 19
IEEE Robotics & Automation Magazine - December 2015 - 20
IEEE Robotics & Automation Magazine - December 2015 - 21
IEEE Robotics & Automation Magazine - December 2015 - 22
IEEE Robotics & Automation Magazine - December 2015 - 23
IEEE Robotics & Automation Magazine - December 2015 - 24
IEEE Robotics & Automation Magazine - December 2015 - 25
IEEE Robotics & Automation Magazine - December 2015 - 26
IEEE Robotics & Automation Magazine - December 2015 - 27
IEEE Robotics & Automation Magazine - December 2015 - 28
IEEE Robotics & Automation Magazine - December 2015 - 29
IEEE Robotics & Automation Magazine - December 2015 - 30
IEEE Robotics & Automation Magazine - December 2015 - 31
IEEE Robotics & Automation Magazine - December 2015 - 32
IEEE Robotics & Automation Magazine - December 2015 - 33
IEEE Robotics & Automation Magazine - December 2015 - 34
IEEE Robotics & Automation Magazine - December 2015 - 35
IEEE Robotics & Automation Magazine - December 2015 - 36
IEEE Robotics & Automation Magazine - December 2015 - 37
IEEE Robotics & Automation Magazine - December 2015 - 38
IEEE Robotics & Automation Magazine - December 2015 - 39
IEEE Robotics & Automation Magazine - December 2015 - 40
IEEE Robotics & Automation Magazine - December 2015 - 41
IEEE Robotics & Automation Magazine - December 2015 - 42
IEEE Robotics & Automation Magazine - December 2015 - 43
IEEE Robotics & Automation Magazine - December 2015 - 44
IEEE Robotics & Automation Magazine - December 2015 - 45
IEEE Robotics & Automation Magazine - December 2015 - 46
IEEE Robotics & Automation Magazine - December 2015 - 47
IEEE Robotics & Automation Magazine - December 2015 - 48
IEEE Robotics & Automation Magazine - December 2015 - 49
IEEE Robotics & Automation Magazine - December 2015 - 50
IEEE Robotics & Automation Magazine - December 2015 - 51
IEEE Robotics & Automation Magazine - December 2015 - 52
IEEE Robotics & Automation Magazine - December 2015 - 53
IEEE Robotics & Automation Magazine - December 2015 - 54
IEEE Robotics & Automation Magazine - December 2015 - 55
IEEE Robotics & Automation Magazine - December 2015 - 56
IEEE Robotics & Automation Magazine - December 2015 - 57
IEEE Robotics & Automation Magazine - December 2015 - 58
IEEE Robotics & Automation Magazine - December 2015 - 59
IEEE Robotics & Automation Magazine - December 2015 - 60
IEEE Robotics & Automation Magazine - December 2015 - 61
IEEE Robotics & Automation Magazine - December 2015 - 62
IEEE Robotics & Automation Magazine - December 2015 - 63
IEEE Robotics & Automation Magazine - December 2015 - 64
IEEE Robotics & Automation Magazine - December 2015 - 65
IEEE Robotics & Automation Magazine - December 2015 - 66
IEEE Robotics & Automation Magazine - December 2015 - 67
IEEE Robotics & Automation Magazine - December 2015 - 68
IEEE Robotics & Automation Magazine - December 2015 - 69
IEEE Robotics & Automation Magazine - December 2015 - 70
IEEE Robotics & Automation Magazine - December 2015 - 71
IEEE Robotics & Automation Magazine - December 2015 - 72
IEEE Robotics & Automation Magazine - December 2015 - 73
IEEE Robotics & Automation Magazine - December 2015 - 74
IEEE Robotics & Automation Magazine - December 2015 - 75
IEEE Robotics & Automation Magazine - December 2015 - 76
IEEE Robotics & Automation Magazine - December 2015 - 77
IEEE Robotics & Automation Magazine - December 2015 - 78
IEEE Robotics & Automation Magazine - December 2015 - 79
IEEE Robotics & Automation Magazine - December 2015 - 80
IEEE Robotics & Automation Magazine - December 2015 - 81
IEEE Robotics & Automation Magazine - December 2015 - 82
IEEE Robotics & Automation Magazine - December 2015 - 83
IEEE Robotics & Automation Magazine - December 2015 - 84
IEEE Robotics & Automation Magazine - December 2015 - 85
IEEE Robotics & Automation Magazine - December 2015 - 86
IEEE Robotics & Automation Magazine - December 2015 - 87
IEEE Robotics & Automation Magazine - December 2015 - 88
IEEE Robotics & Automation Magazine - December 2015 - 89
IEEE Robotics & Automation Magazine - December 2015 - 90
IEEE Robotics & Automation Magazine - December 2015 - 91
IEEE Robotics & Automation Magazine - December 2015 - 92
IEEE Robotics & Automation Magazine - December 2015 - 93
IEEE Robotics & Automation Magazine - December 2015 - 94
IEEE Robotics & Automation Magazine - December 2015 - 95
IEEE Robotics & Automation Magazine - December 2015 - 96
IEEE Robotics & Automation Magazine - December 2015 - 97
IEEE Robotics & Automation Magazine - December 2015 - 98
IEEE Robotics & Automation Magazine - December 2015 - 99
IEEE Robotics & Automation Magazine - December 2015 - 100
IEEE Robotics & Automation Magazine - December 2015 - 101
IEEE Robotics & Automation Magazine - December 2015 - 102
IEEE Robotics & Automation Magazine - December 2015 - 103
IEEE Robotics & Automation Magazine - December 2015 - 104
IEEE Robotics & Automation Magazine - December 2015 - 105
IEEE Robotics & Automation Magazine - December 2015 - 106
IEEE Robotics & Automation Magazine - December 2015 - 107
IEEE Robotics & Automation Magazine - December 2015 - 108
IEEE Robotics & Automation Magazine - December 2015 - 109
IEEE Robotics & Automation Magazine - December 2015 - 110
IEEE Robotics & Automation Magazine - December 2015 - 111
IEEE Robotics & Automation Magazine - December 2015 - 112
IEEE Robotics & Automation Magazine - December 2015 - 113
IEEE Robotics & Automation Magazine - December 2015 - 114
IEEE Robotics & Automation Magazine - December 2015 - 115
IEEE Robotics & Automation Magazine - December 2015 - 116
IEEE Robotics & Automation Magazine - December 2015 - 117
IEEE Robotics & Automation Magazine - December 2015 - 118
IEEE Robotics & Automation Magazine - December 2015 - 119
IEEE Robotics & Automation Magazine - December 2015 - 120
IEEE Robotics & Automation Magazine - December 2015 - 121
IEEE Robotics & Automation Magazine - December 2015 - 122
IEEE Robotics & Automation Magazine - December 2015 - 123
IEEE Robotics & Automation Magazine - December 2015 - 124
IEEE Robotics & Automation Magazine - December 2015 - 125
IEEE Robotics & Automation Magazine - December 2015 - 126
IEEE Robotics & Automation Magazine - December 2015 - 127
IEEE Robotics & Automation Magazine - December 2015 - 128
IEEE Robotics & Automation Magazine - December 2015 - 129
IEEE Robotics & Automation Magazine - December 2015 - 130
IEEE Robotics & Automation Magazine - December 2015 - 131
IEEE Robotics & Automation Magazine - December 2015 - 132
IEEE Robotics & Automation Magazine - December 2015 - 133
IEEE Robotics & Automation Magazine - December 2015 - 134
IEEE Robotics & Automation Magazine - December 2015 - 135
IEEE Robotics & Automation Magazine - December 2015 - 136
IEEE Robotics & Automation Magazine - December 2015 - 137
IEEE Robotics & Automation Magazine - December 2015 - 138
IEEE Robotics & Automation Magazine - December 2015 - 139
IEEE Robotics & Automation Magazine - December 2015 - 140
IEEE Robotics & Automation Magazine - December 2015 - 141
IEEE Robotics & Automation Magazine - December 2015 - 142
IEEE Robotics & Automation Magazine - December 2015 - 143
IEEE Robotics & Automation Magazine - December 2015 - 144
IEEE Robotics & Automation Magazine - December 2015 - 145
IEEE Robotics & Automation Magazine - December 2015 - 146
IEEE Robotics & Automation Magazine - December 2015 - 147
IEEE Robotics & Automation Magazine - December 2015 - 148
IEEE Robotics & Automation Magazine - December 2015 - 149
IEEE Robotics & Automation Magazine - December 2015 - 150
IEEE Robotics & Automation Magazine - December 2015 - 151
IEEE Robotics & Automation Magazine - December 2015 - 152
IEEE Robotics & Automation Magazine - December 2015 - 153
IEEE Robotics & Automation Magazine - December 2015 - 154
IEEE Robotics & Automation Magazine - December 2015 - 155
IEEE Robotics & Automation Magazine - December 2015 - 156
IEEE Robotics & Automation Magazine - December 2015 - 157
IEEE Robotics & Automation Magazine - December 2015 - 158
IEEE Robotics & Automation Magazine - December 2015 - 159
IEEE Robotics & Automation Magazine - December 2015 - 160
IEEE Robotics & Automation Magazine - December 2015 - 161
IEEE Robotics & Automation Magazine - December 2015 - 162
IEEE Robotics & Automation Magazine - December 2015 - 163
IEEE Robotics & Automation Magazine - December 2015 - 164
IEEE Robotics & Automation Magazine - December 2015 - 165
IEEE Robotics & Automation Magazine - December 2015 - 166
IEEE Robotics & Automation Magazine - December 2015 - 167
IEEE Robotics & Automation Magazine - December 2015 - 168
IEEE Robotics & Automation Magazine - December 2015 - Cover3
IEEE Robotics & Automation Magazine - December 2015 - Cover4
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2010
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2010
https://www.nxtbookmedia.com