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