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).