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 2.2

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. :-)

Download SynGrasp

SynGrasp is a MATLAB toolbox developed for the analysis of grasping, suitable both for robotic and human hands. It includes functions for the definition of hand kinematic structure and of the contact points with a grasped object. The coupling between joints induced by an underactuated control can be modeled. The hand modeling allows to define compliance at the contact, joint and actuator levels. The analysis functions provided can be used to investigate the main grasp properties: controllable forces and object displacement, manipulability analysis, grasp quality measures. Functions for the graphical representation of the hand, the object and the main analysis results are provided.

Download SynGrasp


  • 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, To appear, Karlsruhe, Germany, 2013
  • D. Prattichizzo, M. Malvezzi, M. Gabiccini, A. Bicchi. On the Manipulability Ellipsoids of Underactuated Robotic Hands with Compliance. Robotics and Autonomous Systems, Elsevier, 2012. pdf
  • M. Gabiccini, A. Bicchi, D. Prattichizzo, M. Malvezzi. On the role of hand synergies in the optimal choice of grasping forces. Autonomous Robots, Springer, 31:235-252, 2011. pdf
  • G. Gioioso, G. Salvietti, M. Malvezzi, D. Prattichizzo. An Object-Based Approach to Map Human Hand Synergies onto Robotic Hands with Dissimilar Kinematics. In Robotics: Science and Systems VIII, To appear, To appear, The MIT Press, Sidney, Australia, July 2012.pdf
  • D. Prattichizzo, M. Malvezzi, A. Bicchi. On motion and force controllability of grasping hands with postural synergies. In Robotics: Science and Systems VI, pp. 49-56, The MIT Press, Zaragoza, Spain, June 2011. pdf
  • D. Prattichizzo, J. Trinkle. Chapter 28 on Grasping. In Handbook on Robotics, B. Siciliano, O. Kathib (eds.), [This Handbook was honored by Association of American Publisher with the prestigious PROSE Award for Excellence in Physical Sciences and Mathematics. The Handbook was also the winner in the subcategory Engineering and Technology.], Pages 671-700, 2008. pdf