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

. Model-based strategy for grasping 3 D deformable objects using a multifingered robotic hand.Robotics and Autonomous Systems, Elsevier, 2017, 95, pp.196-206 AbstractThis paper presents a model-based strategy for 3D deformable object grasping using a multi-fingered robotic hand. The developed contact model is based on two force components (normal force and tangential friction force, including slipping and sticking effects) and uses a non-linear mass-spring system to describe the object deformations due the mechanical load applied by the fingers of the robotic hand. The object-finger interaction is simulated in order to compute the required contact forces and deformations to robustly grasp objects with large deformations. Our approach is able to achieve this by using a non-linear model that outperforms current techniques that are limited to using linear models. After the contact forces computed by the simulation of the contact model guarantee the equilibrium of the grasp, they will be used as set-points for forcecontrolling the closing of the real fingers, and thus, the proposed grasping strategy is implemented. Two different objects (cube and sphere) made from two soft materials (foam and rubber) are tested in order to verify that the proposed model can represent their non-linear deformations and that the proposed grasp strategy can implement a robust grasp of them with a multi-fingered robotic hand equipped with tactile sensors. Thereby, both the grasping strategy and the proposed contact model are validated experimentally.

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“…The 3D graphical representation of the hand, is implemented using Matlab Toolbox Syngrasp [34] (shown in Fig. 10).…”

Section: Validation Of the Contact Modelmentioning

confidence: 99%

Model-based strategy for grasping3Ddeformable objects using a multi-fingered robotic hand

Zaidi

Ramón

Bouzgarrou

et al. 2017

Robotics and Autonomous Systems

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“…The performance of the proposed control algorithm have been evaluated through a series of numerical simulations using SynGrasp [20]. SynGrasp is a Matlab Toolbox that aims at simulating and analyzing hand grasping.…”

Section: Numerical Simulationsmentioning

confidence: 99%

The Sixth-Finger: A modular extra-finger to enhance human hand capabilities

Prattichizzo

Malvezzi

Hussain

et al. 2014

The 23rd IEEE International Symposium on Robot and Human Interactive Communication

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Robotic prosthesis are usually intended as artificial device extensions replacing a missing part of a human body. A new approach regarding robotic limbs is presented here. A modular robot is used not only for replacing a missing part of the body but also as an extra-limb in order to enhance manipulation dexterity and enlarge the workspace of human beings. In this work, the model and control of an additional finger, the Sixth-Finger, is presented as a case study of this type of robotic limbs. The robotic finger has been placed on the wrist opposite to the hand palm. This solution allows to enlarge the hand workspace, increasing the grasp capability of the user. An object-based mapping algorithm is proposed to control the robotic extra-finger by interpreting the whole hand motion in grasping action. A four DoFs modular prototype is presented along with numerical simulations and real experiments. The proposed Sixth-Finger can lead to a wide range of applications in the direction of augmenting human capabilities through wearable robotics

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“…Syngrasp [4] is an independent robotic toolbox developed for analysis of grasping of human hand as well as robotic hands. It gives a graphical representation of models of hand an anthropomorphic hand, a 3-fingered hand, a modular hand and the DLR/HIT II Hand.…”

Section: Syngraspmentioning

confidence: 99%

“…However, the majority of these tools are specifically designed for serial manipulators and simulation tools for robotic grasping is rather limited e.g OpenGRASP [1], Graspit! [2,3], SynGrasp [4], and hence there is a need to develop a general purpose software package for performing different analyses on dexterous robotic hands.…”

Section: Introductionmentioning

confidence: 99%

Matlab Toolbox for Kinematic Analysis and Simulation of Dexterous Robotic Grippers

Zodey

Rubaai

2014

Procedia Engineering

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Robot simulators have supported the science of robotics for a long period and have been an indispensable tool for understanding, planning, designing and programming of educational and industrial robots. These soft tools allows the users to program and test their applications without using the real hardware or even building it since such tools allow the analysis of behaviours and performance beforehand. Some of these soft tools have already been designed and developed for professional as well as educational and research purposes by researchers. However, the majority of these tools are specifically designed for serial manipulators and simulation tools for robotic grasping is rather limited e.g Graspit!, OpenGRASP, SynGrasp, and hence there is a need to develop a general purpose software package for performing different analyses on dexterous robotic hands. In this research work, a new MATLAB based dexterous robotic gripper toolbox is developed with GUI based simulating environment for Kinematic analysis and additional features with inbuilt library of various dexterous grippers of Robot. This toolbox has capabilities like Hand modeling, Grasp definition, Grasp modeling, Grasp analysis and Graphics to support representation of various commercially available existing dexterous grippers and has provision and flexibility to accommodate any newly developed hand. The library of toolbox has different parameters like Denavit -Hartenberg parameters, finger size, and joint angles etc. which are used for kinematics of various dexterous grippers. Form closure analysis is a special feature that has been included for understanding the actual positioning and orientation of fingers of dexterous grippers according to the object position. The library of proposed toolbox has detailed definition of objects to make form closure by various models of dexterous grippers.

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

Cited by 47 publications

References 23 publications

Model-based strategy for grasping3Ddeformable objects using a multi-fingered robotic hand

Model-based strategy for grasping3Ddeformable objects using a multi-fingered robotic hand

The Sixth-Finger: A modular extra-finger to enhance human hand capabilities

Matlab Toolbox for Kinematic Analysis and Simulation of Dexterous Robotic Grippers

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