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Updated: Sep 7, 2025

Estimation of Contact Regions Between Hands and Objects During Human Multi-Digit Grasping
Published on: April 21, 2023
Modeling and Simulation of Robotic Grasping in Simulink Through Simscape Multibody
Maria Pozzi1, Gabriele Maria Achilli2, Maria Cristina Valigi2
1Department of Information Engineering and Mathematics, University of Siena, Siena, Italy.
Abstract:
Grasping and dexterous manipulation remain fundamental challenges in robotics, above all when performed with multifingered robotic hands. Having simulation tools to design and test grasp and manipulation control strategies is paramount to get functional robotic manipulation systems. In this paper, we present a framework for modeling and simulating grasps in the Simulink environment, by connecting SynGrasp, a well established MATLAB toolbox for grasp simulation and analysis, and Simscape Multibody, a Simulink Library allowing the simulation of physical systems. The proposed approach can be used to simulate the grasp dynamics in Simscape, and then analyse the obtained grasps in SynGrasp. The devised functions and blocks can be easily customized to simulate different hands and objects.
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