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ModGrasp is an open-source rapid-prototyping framework for designing low-cost sensorised modular grasping hands. The rapid-prototyping approach is combined with the modular concept so that different manipulator configurations can be rapidly modelled. This method consists of an immersive design process that involves mechanics, hardware and software. A real-time one-to-one correspondence between virtual and physical prototypes is established. The on-board, low-cost torque sensors provided within each module allow for evaluating the stability of the obtained grasps. An intuitive visual feedback is also provided during the designing phase by means of a 3-D visualisation environment. Moreover, both the virtual models and their physical counterparts can be controlled by using the same input device.

It is the authors intend this work to be an open platform for the open-source research community.


Filippo Sanfilippo, Houxiang Zhang, Kristin Ytterstad Pettersen, Gionata Salvietti and Domenico Prattichizzo. ModGrasp: an Open-Source Rapid-Prototyping Framework for Designing Low-Cost Sensorised Modular Hands. In Proceeding of the 5th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), São Paulo, Brazil. 2014, 951–957.


The authors gratefully acknowledge the contribution of the students Stian Sandviknes, Ole Jonny Varhaugvik and Andreas Bull Enger in the realisation and implementation of this work.

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