This final process involves Grasping the object. It consists of closing the fingers on the object while keeping the hand position and orientation obtained during the previous process. The closure is done by simultaneously moving the 23 DOF of the closing hand from an opened configuration to a closed configuration. The intermediate configurations are distributed linearly between the opened and close configurations. During the closure, if a contact occur between a finger segment and the object to grasp (e.g. 5th finger intermediate phalanx), that segment and all its parents (i.e. proximal phalanx, 5th metacarpal) are stopped, but the children segments (i.e. distal phalanx) are not stopped. The hand closure is the same for tools and arbitrary parts and more details about that process can be found in Patents, Ref [6].

Once the whole-body posture is estimated for the four DHM and the hands are closed, an ErgonomicsAnalysis on the postures is performed by the Ergo4All module and suggestions are shown to the user to improve the design of the simulated workplace. The user can than quickly modify its design and loop through the SPE to recompute a new posture for the four DHM.