From human to robot grasping: force and kinematic synergies

Abdeldjallil Naceri, Diego Hidalgo, Sami Haddadin, Nicolò Boccardo, Lorenzo Lombardi, Andrea Marinelli, Matteo Laffranchi, Lorenzo De Michieli

Research output: Chapter in Book/Report/Conference proceedingChapterpeer-review

3 Scopus citations


The human hand is one of the most complex naturally engineered systems in the human body. The human hand has been the center of attention for many years in robotics research. In this work we discuss two of our recent works where we compare human and robot hands. Specifically, we aimed to draw a broader picture within such a comparison in both the force and the kinematic domain. The part related to the force domain focuses on comparing the human hand to a robotic hand in grasp stability tasks achieved by resisting external perturbations. In the second study, we compared the human hand kinematics synergies to a robotic hand when grasping a set of daily life objects. Similar force and kinematic patterns were observed in both human and robotic hands. Despite the complexity of the human hand as a physiological system, the engaged grasping control tends to be similar in both the kinematic and the force domain, where the motor variables (i.e., degrees of freedom) involved in the task seem to be synchronous and act together, which fits the synergy approach.

Original languageEnglish
Title of host publicationTactile Sensing, Skill Learning, and Robotic Dexterous Manipulation
Number of pages16
ISBN (Electronic)9780323904452
ISBN (Print)9780323904179
StatePublished - 1 Jan 2022


  • force synergies
  • grasping
  • human hands
  • kinematic synergies
  • manipulation
  • robotic and prosthetic hands


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