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SynGrasp: a MATLAB toolbox for the simulation of robotic hands Domenico Prattichizzo, Monica Malvezzi, Gionata Salvietti, Maria Pozzi, Guido Gioioso, Giovanni Spagnoletti, Leonardo Meli.

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Page 1: SynGrasp: a MATLAB toolbox for the simulation of robotic hands · SynGrasp: a MATLAB toolbox for the simulation of robotic hands Domenico Prattichizzo, Monica Malvezzi, Gionata Salvietti,

SynGrasp: a MATLAB toolbox for the simulation of robotic hands

Domenico Prattichizzo, Monica Malvezzi, GionataSalvietti, Maria Pozzi, Guido Gioioso, Giovanni

Spagnoletti, Leonardo Meli.

Page 2: SynGrasp: a MATLAB toolbox for the simulation of robotic hands · SynGrasp: a MATLAB toolbox for the simulation of robotic hands Domenico Prattichizzo, Monica Malvezzi, Gionata Salvietti,

What is SynGrasp?

• SynGrasp is a MATLAB toolbox for grasp analysis of fully or underactuated robotic

hands with compliance.

Page 3: SynGrasp: a MATLAB toolbox for the simulation of robotic hands · SynGrasp: a MATLAB toolbox for the simulation of robotic hands Domenico Prattichizzo, Monica Malvezzi, Gionata Salvietti,

SynGrasp MATLAB Toolbox

SynGrasp is a MATLAB toolbox for the analysis of grasping

with fully or underactuated hands with compliance.

Page 4: SynGrasp: a MATLAB toolbox for the simulation of robotic hands · SynGrasp: a MATLAB toolbox for the simulation of robotic hands Domenico Prattichizzo, Monica Malvezzi, Gionata Salvietti,

Why MATLAB?

• Specific toolboxes have been developed in the past years as support for research and teaching in almost every branch of engineering.

• MATLAB programming language is intuitive and wellknown in the research community

• MATLAB scripts and functions can be easily integrated with specific tools and built-in math functions• statistical elaboration of experimental data,

• optimization,

• dynamic models

• simulations

Page 5: SynGrasp: a MATLAB toolbox for the simulation of robotic hands · SynGrasp: a MATLAB toolbox for the simulation of robotic hands Domenico Prattichizzo, Monica Malvezzi, Gionata Salvietti,

SynGrasp: Features

HAND MODELING• Build the hand• Synergies/underactuation• Place the hand/object

GRASP DEFINITION• Contact points• Grasp planner• G, J, H matrices• Compliance

GRASP ANALYSIS• Grasp analysis• Quasi-static maps• Manipulability Ellipsoids

USER INTERFACE• GUI• Scripting

Page 6: SynGrasp: a MATLAB toolbox for the simulation of robotic hands · SynGrasp: a MATLAB toolbox for the simulation of robotic hands Domenico Prattichizzo, Monica Malvezzi, Gionata Salvietti,

Human Hand Modeling

Anthropomorphic hand model:20 degrees of freedom

Page 7: SynGrasp: a MATLAB toolbox for the simulation of robotic hands · SynGrasp: a MATLAB toolbox for the simulation of robotic hands Domenico Prattichizzo, Monica Malvezzi, Gionata Salvietti,

How to define the mapping ?

Several solutions for anthropomorphic hands (joint to joint, fingertip mapping, etc.)

Non-anthropomorphic hands? Goal: to develop a mapping independent from the kinematic structure of the hand

? Focus on the

effects on the

manipulated

obj

Page 8: SynGrasp: a MATLAB toolbox for the simulation of robotic hands · SynGrasp: a MATLAB toolbox for the simulation of robotic hands Domenico Prattichizzo, Monica Malvezzi, Gionata Salvietti,

Mapping synergies from human to robotic hands

Page 9: SynGrasp: a MATLAB toolbox for the simulation of robotic hands · SynGrasp: a MATLAB toolbox for the simulation of robotic hands Domenico Prattichizzo, Monica Malvezzi, Gionata Salvietti,

The Numbers of SynGrasp

• Developed since 2012 mainly by the Siena Robotics and Systems Lab (SIRSLab).

• More than 300 functions and scripts for grasp analysis

• Main subject of 2 published papers (2013, 2015)

• 4044 downloads of the toolbox

• 2774 downloads of the user guide

• Used in 4 European Projects

MATLAB EXPO, 22/06/2016 - SYNGRASP -DOMENICO PRATTICHIZZO, UNISI

Page 10: SynGrasp: a MATLAB toolbox for the simulation of robotic hands · SynGrasp: a MATLAB toolbox for the simulation of robotic hands Domenico Prattichizzo, Monica Malvezzi, Gionata Salvietti,

Download SynGrasp

SynGrasp Toolbox and User Guide can be downloaded from the website:

http://sirslab.dii.unisi.it/syngrasp/

http://sirslab.dii.unisi.it/syngrasp/

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