R O B O T G A R A G E . O R G

Open Source Robotics Projects

Rebelia

Robotic Hand

For Humans: Prosthetic Myoelectric Version

For Robots: Robotic ROS Version


Link to EU Project Collaboration


Features

Strong

3D printable

Cheap (components cost ~300 EUR)

Rotatable passive Wrist

Active Fingers: 5 DOF (Index, Middle, RingLittle,Thumb Flexion, Thumb Rotation)

Prosthetic Version: Reliable EMG control, 2 dry electrode sensors (skin surface)

Robotic Version: ROS Driver, Quick Access Panel for Tendon Maintenance


!! New Robotic Design Coming Soon !!


Prosthetic: new design


Prosthetic: current prototype


Prosthetic: previous prototype without socket


CAD Pictures

Inside view


Prosthetic: rotatable passive wrist

The wrist has a limited range of +90 -90 degrees.

The red ball pin is mad of rigid plastic and it can slide along the red canal, this ensures the range limitation.

The blue ball bearings are soft material (TPU 82A) so they exert a certain amount of pressure on the outer ring, keeping the wrist firmly at the current position, but still allowing the user to rotate it by applying a stronger torque.


Progress

MOTOR SELECTION 100%

BATTERY SELECTION 100%

EMG SENSORS SELECTION 100%

ELECTRONICS BOARD 100%

FIRMWARE DEVELOPMENT 95%

SKELETON DESIGN & TEST 100%

FINGER DESIGN & TEST 95%

PALM AND BACK COVER DESIGN & TEST 100%

HIGH GRIP GLOVE SELECTION 80%

GRIP PADS DESIGN AND TEST 95%

WRIST DESIGN & TEST 100%

LOWER FOREARM COVER DESIGN & TEST 100%

UPPER FOREARM COVER DESIGN & TEST 95%

AESTHETIC DESIGN FOR HAND AND FOREARM 0%

WEIGHT REDUCTION 0%


Grasp Reliability

POWER GRASP 100%

PINCH GRASP 100%

MON-KEY GRASP 100%

SMALL POWER GRASP & FIST 100%

TRIPOD GRASP 0%

Additional Gestures

RELAXED 100%


Deevelopment Tools

Software

CAD design: Blender

PCB design: Osmond PCB

Firmware programming: Arduino IDE 2

Hardware

3D Printer: Sovol SV04 Dual IDEX Printer

Consumables

Skeleton : Jabil PLA 3100 / PolyFlex 95A

Cover : Polyterra

Fingers: Filaflex 82A + Jabil PLA 3100 / PolyFlex 95A + PolyLite

Palm: Filaflex 82A / PolyFlex 95A

Grip Pads: Coresteady Elastic Fitness Band

Glue (Grip Pads): Bostik Max Repair

Main Electronics Components

MCU: ESP32 DevBoard

EMG Sensors: DFRobot-OYMotion-EMG-Sensor

ServoMotors: WaveShare ST3215

Batteries: Li-PO 12V GFC Energy 1800mAh

License

CAD Files: CC BY-SA 4.0

Firmware: GNU GPL v3


Rebelia Hand © 2023-2024 by Vittorio Lumare is licensed under CC BY-SA 4.0