Modelling and analyzing of postural synergy based underactuated robotic hand with contact and friction constraints

Underactuated robotic hands based on postural synergy with passive joint compliance have shown promising performance in robust grasping. However it is still lack of universal theoretical analysis for this type of robotic hand. In this paper we start from the previous model and analysis method, modifying the fundamental model by introducing the contact and friction constraints in grasping. A simulation tool called “SJT-GraspSim” based on Quadratic Program solver has been developed and apply to evaluate the performance of the “SJT-5” Hand developed in our previous work. The results show that the proposed model and method have a wider range of application.