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

http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7243306&filter%3DAND%28p_IS_Number%3A7349124%29

To cite this paper

@ARTICLE{7243306, 
 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}, 
 year={2015}, 
 volume={22}, 
 number={4}, 
 pages={52-68}, 
 keywords={Analytical models;Graphical user interfaces;Grasping;Jacobian matrices;MATLAB;Robot kinematics}, 
 doi={10.1109/MRA.2015.2408772}, 
 ISSN={1070-9932}, 
 month={Dec},}