During these two months we focused on the following aspects:
• A set of Matlab functions has been defined and organized as a preliminary version of a
grasping toolbox. It allows to define models of human and robotic hands, objects and
grasp configurations, in order to evaluate grasp performances. (task SYN).
• A mapping algorithm has been studied and formalized. It is based on a virtual object
that in the preliminary algorithm version is a virtual sphere. The algorithm is formalized
on the task space. (task DVI)
• A model of the instrumented object has been developed with our toolbox. We evaluated
grasping performances of a robotic hand controlled by human synergies mapped with
classical mapping approaches. We planned to test our mapping algorithm with the same
object and task (task EXP).

The scientific goal of HANDS.DVI (Hands DeVice-Independent language) consists of developing a common framework to program robotic hands
independently from their kinematics, mechanical construction, and sensor equipment complexity. Recent results on the organization of the
human hand in grasping and manipulation, known in the literature as synergies, are the inspiration for this project.  This synergistic
organization is the theoretical foundation of the innovative approach to design a unified framework for robotic hands control