Abstract: Method for determining a grasping hand model suitable for grasping an object by obtaining a first RGB image including at least one object; obtaining an object model estimating a pose and shape of said object from the first image of the object; selecting a grasp taxonomy from a set of grasp taxonomies by means of a Convolutional Neural Network, with a cross entropy loss, thus, obtaining a set of parameters defining a coarse grasping hand model; refining the coarse grasping hand model, by minimizing loss functions referring to the parameters of the hand model for obtaining an operable grasping hand model while minimizing the distance between the finger of the hand model and the surface of the object and preventing interpenetration; and obtaining a mesh of the hand represented by the enhanced set of parameters.