E_GRASP: A MATLAB Based Comprehensive Dexterous Robotic Hand Modeling and Simulation Environment

Abstract

"e_Grasp" is a graphically characterized dexterous robotic hand MODELING and SIMULATION environment. The simulator was developed locally for robotic hand research purposes. Therefore, this manuscript is presenting a brief documentation of such a modeling and simulating environment for simulating a multi-finger robotics hand. The environment is known as the "e_Grasp". To make use of other supporting environments, e-Grasp is a MATLAB based simulator, with a large number of linked functionalities and routines, that helps in simulating hand movements in a defined space. E_Grasp was built after a number of years of experience while dealing with robot hands, hence it is a comprehensive MATLAB based Toolbox that make use of other MATLAB defined toolboxes. E_Grasp can also be linked and interfaced for real-time hand control, with an ability to be linked with even higher levels of hierarchy, such AI Tools for controlling a robotic hand for both dexterous (grasping) and (manipulation) functions.