SynGrasp on Robotics and Automation Magazine

A paper on SynGrasp toolbox has been published on Robotics and Automation Magazine. You can download it from this link

To cite this paper

 author={Malvezzi, M. and Gioioso, G. and Salvietti, G. and Prattichizzo, D.}, 
 journal={Robotics Automation Magazine, IEEE}, 
 title={SynGrasp: A MATLAB Toolbox for Underactuated and Compliant Hands}, 
 keywords={Analytical models;Graphical user interfaces;Grasping;Jacobian matrices;MATLAB;Robot kinematics}, 


New version available! Syngrasp 2.2

A new version of Syngrasp is now available!

Click here to download it Syngrasp2.2

Click here to download the User’s Guide Syngrasp Guide 2
What’s new

- We added an example on the simulation of the interaction between robotic hands, grasped objects and the environment.

More details on the model implemented for the simulations can be found here: G. Salvietti, M. Malvezzi, G. Gioioso, D. Prattichizzo. Modeling Compliant Grasps Exploiting Environmental Constraints. In Proc. IEEE Int. Conf. on Robotics and Automation, Seattle, USA, 2015.

- We fixed several errors concerning the grasp planner and the grasp quality computation.

- We fixed an error on the “Writing” examples


A 24 DoF human hand model is now available in SynGrasp

The model that is implemented in the Matlab script SGhuman24DoF.m has 24 degrees of freedom and is described in [1].

The function can be downloaded clicking on the link below and can be simply added to the other hand models available in SynGrasp.

SGhuman24DoF.m (updated on February, 9 – 2014)

In the 24 DoF hand model:

The thumb has 4 degrees of freedom:
- 1 for the IP joint (flexion/extension);
- 1 for the MCP joint (flexion/extension);
- 2 for the trapeziometacarpal (TM) joint (twist, adduction/abduction).

The other fingers have 5 degrees of freedom each:
- 1 for the DIP joint (flexion/extension);
- 1 for the PIP joint (flexion/extension);
- 2 for the MCP joint (abduction/adduction flexion/extension);
- 1 for the CMC joint (flexion/extension).

The model has 19 links:
- 3 for the thumb (LT,M, LT,P, LT,D)
- 4 for each of the other fingers (Li,Me, Li,P, Li,Mi, Li,D, with i = {I, M, R, L})

Authors: M. Pozzi, M. Malvezzi


[1] S. Cobos, M. Ferre, M. A. Sánchez-Urán, J. Ortego and R. Aracil. Human hand descriptions and gesture recognition for object manipulation. Computer Methods in Biomechanics and Biomedical Engineering , Vol. 13, No. 3, pp. 305 – 317, 2009.

[2] M. Malvezzi, G. Gioioso, G. Salvietti, D. Prattichizzo, A. Bicchi. SynGrasp: a MATLAB Toolbox for Grasp Analysis of Human and Robotic Hands. In Proc. IEEE Int. Conf. on Robotics and Automation, Karlsruhe, Germany, 2013.


New version available: SynGrasp2.0

Last version released SynGrasp2.0.

This version includes substantial variations of the file organisation. Several examples have been added including human synergies mapping onto robotic hand with different kinematics, evaluation of human hand writing and a grasp planner. This version consents to use a GUI to interact with the toolbox hand models and functionalities. The new User guide will be available soon.


We found some wrong instructions in the “help” of some functions due to the overlap of different toolbox versions. We fixed them and now the version SynGrasp1.2 that you can download from the link below (last post) should be ok from this point of view.

Please contact us to report any eventual problem you find using the toolbox at:

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We will appreciate your … help. :-)