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Pisa/IIT SoftHand and SoftHand2 Simulink Model

This model, implemented on Matlab&Simulink, allows the simulation of Pisa/IIT SoftHand and SoftHand 2 behavior during its free closure or during the application of external forces.


The simulator is highly parametric and it can be used during the hand design, to understand the effect of mechanical changes in hand closure.

A viewer is also provided, based on Simmechanics.


Cosimo Della Santina

Davide Fabbroni
Lorenzo Tiberi
Francesco Bufalo

Giorgio Grioli

Manuel Catalano

Antonio Bicchi



Centro E. Piaggio

Istituto Italiano di Tecnologia



Software Libraries
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