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: To Be Defined
Firmware: To Be Defined
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