Optimal Control of Grasping Problem Using Postural Synergies

The human hand has a complex musculoskeletal structure which acts as an effective end-effector to perform grasping effectively. Optimal control is a productive method to execute predictive simulations for many biomechanical activities. Optimal control for grasping simulations has been demonstrated for precision grasps for two fingers. However, the procedure to expand it to a full hand is laborious, primarily due to a large computational cost. Furthermore, a full hand performs with a high degree of coordination. These issues can be challenged by the inclusion of kinematic or postural synergies in the multibody framework. In this work, we implement the modelling of kinematic synergies to perform grasping simulations.