SynGrasp: A MATLAB toolbox for grasp analysis of human and robotic hands

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2013, Pages 1088-1093

  Malvezzi, Monica ^a   Gioioso, Guido ^a,b   Salvietti, Gionata ^b   Prattichizzo, Domenico ^a,b   Bicchi, Antonio ^b,c  

^a UNIVERSITY OF SIENA   (Italy)

^b ISTITUTO ITALIANO DI TECNOLOGIA   (Italy)

^c UNIVERSITY OF PISA   (Italy)

Author keywords

[No Author keywords available]

Indexed keywords

CONTACT POINTS; GRAPHICAL REPRESENTATIONS; GRASP ANALYSIS; GRASP QUALITY MEASURE; HAND KINEMATICS; MANIPULABILITY ANALYSIS; MATLAB TOOLBOXES; OBJECT DISPLACEMENT;

ROBOTICS;

EID: 84881524523     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICRA.2013.6630708     Document Type: Conference Paper

References (28)

1. MATLAB and S for Technical Computing, "The MathWorks Inc., USA," (Online): http://www.mathworks.com/.
2. F Chinello, S Scheggi, F Morbidi, and D Prattichizzo, "Kuka control toolbox," Robotics &Automation Magazine, IEEE, vol 18, no 4, pp 69-79, 2011.
3. P Corke, "A Robotics Toolbox for MATLAB," IEEE Rob Autom Mag., vol 3, no 1, pp 24-32, 1996.
4. G Mariottini and D Prattichizzo, "EGT for Multiple View Geometry and Visual Servoing: Robotics and Vision with Pinhole and Panoramic Cameras," IEEE Robot Autom Mag., vol 12, no 4, pp 26-39, 2005.
5. D Prattichizzo and J Trinkle, "Chapter 28: Grasping," in Handbook on Robotics, B Siciliano and O Kathib, Eds Springer, 2008, pp 671-700.
6. J Napier, "The prehensile movements of the human hand," Journal of bone and joint surgery, vol 38, no 4, pp 902-913, 1956.
7. A Wing, P Haggard, and J Flanagan, Hand and brain: the neurophysiology and psychology of hand movements Academic Pr, 1996.
8. A Miller and P Allen, "Graspit! a versatile simulator for robotic grasping," Robotics &Automation Magazine, IEEE, vol 11, no 4, pp 110-122, 2004.
9. B Léon, S Ulbrich, R Diankov, G Puche, M Przybylski, A Morales, T Asfour, S Moisio, J Bohg, J Kuffner et al., "Opengrasp: a toolkit for robot grasping simulation," Simulation, Modeling, and Programming for Autonomous Robots, pp 109-120, 2010.
10. "The\-The hand embodied," [On-line]: www.thehandembodied.eu.
11. M Santello, M Flanders, and J F Soechting, "Postural hand synergies for tool use," The Journal of Neuroscience, vol 18, no 23, pp 10 105-10 115, December 1998.
12. D Prattichizzo, M Malvezzi, and A Bicchi, "On motion and force controllability of grasping hands with postural synergies," in Proceedings of Robotics: Science and Systems, Zaragoza, Spain, June 2010.
13. "The grasp robotic toolbox," [On-line]: http://rtss.hg. sourceforge.net/ hgweb/rtss/matlab/ http://rtss.hg.sourceforge.net/hgweb/rtss/ scilabthe/.
14. M Gabiccini, A Bicchi, D Prattichizzo, and M Malvezzi, "On the role of hand synergies in the optimal choice of grasping forces," Autonomous Robots, vol 31, no 2, pp 235-252, 2011.
15. G Stillfried and P van der Smagt, "Movement model of a human hand based on magnetic resonance imaging (mri)," in International Conference on Applied Bionics and Biomechanics (ICABB), Venice, Italy, October 2010.
16. A Bicchi, "On the closure properties of robotic grasping," The Int J of Robotics Research, vol 14, no 4, pp 319-334, 1995.
17. G Baud-Bovy, D Prattichizzo, and N Brogi, "Does torque minimization yield a stable human grasp?" in Multi-Point Physical Interaction with Real and Virtual Objects, ser STAR, Springer Tracts in Advanced Robotics, F Barbagli, D Prattichizzo, and K Salisbury, Eds Springer, 2005.
18. T Yoshikawa, "Manipulability of robotic mechanisms," The International Journal of Robotics Research, vol 4, no 2, pp 3-9, June 1985.
19. D Prattichizzo, M Malvezzi, M Gabiccini, and A Bicchi, "On the manipulability ellipsoids of underactuated robotic hands with compliance," Robotics and Autonomous Systems, Elsevier, 2012.
20. J Butterfass, M Grebenstein, H Liu, and G Hirzinger, "DLR-hand II: next generation of a dextrous robot hand," in Robotics and Automation, 2001 Proceedings 2001 ICRA IEEE International Conference on, vol 1, 2001, pp 109-114.
21. G Gioioso, G Salvietti, M Malvezzi, and D Prattichizzo, "An objectbased approach to map human hand synergies onto robotic hands with dissimilar kinematics," in Robotics: Science and Systems VIII Sidney, Australia: The MIT Press, July 2012.
22. R Murray, Z Li, and S Sastry, A mathematical introduction to Robotic Manipulation, C Press, Ed., 1994.
23. S Chen and I Kao, "Conservative congruence transformation for joint and cartesian stiffness matrices of robotic hands and fingers," The international Journal of Robotics Research, vol 19, no 9, pp 835-847, sep 2000.
24. M Cutkosky and I Kao, "Computing and controlling the compliance of a robotic hand," IEEE Transaction on Robotics and Automation, vol 5, no 2, pp 151-165, 1989.
25. A Bicchi, "Hands for dextrous manipulation and robust grasping: a difficult road towards simplicity," IEEE Trans on Robotics and Automation, vol 16, no 6, pp 652-662, December 2000.
26. J Salisbury and J J Craig, "Articulated hands, force control and kinematic issues," The International Journal of Robotics Research, vol 1, no 1, pp 4-17, June 1982.
27. M Gabiccini, E Farnioli, and A Bicchi, "Grasp and manipulation analysis for synergistic underactuated hands under general loading conditions," in Proc IEEE Int Conf on Robotics and Automation, St Paul, Minnesota, USA, 2012.
28. A Bicchi and D Prattichizzo, "Analysis and optimization of tendinous actuation for biomorphically designed robotic systems," Robotica, vol 18, no 1, pp 23-31, 2000.