ModGrasp: An open-source rapid-prototyping framework for designing low-cost sensorised modular hands

This paper introduces ModGrasp, an open-source virtual and physical rapid-prototyping framework that allows for the design, simulation and control of low-cost sensorised modular hands. By combining the rapid-prototyping approach with the modular concept, different manipulator configurations can be modelled. A real-time one-to-one correspondence between virtual and physical prototypes is established. Different control algorithms can be implemented for the models. By using a low-cost sensing approach, functions for torque sensing at the joint level, sensitive collision detection and joint compliant control are possible. A 3-D visualization environment provides the user with an intuitive visual feedback. As a case study, a three-fingered modular manipulator is presented. Related simulations are carried out to validate efficiency and flexibility of the proposed rapid-prototyping framework.