Robotic Hand

For Humans: Prosthetic Myoelectric Version

For Robots: Robotic ROS Version

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Link to EU Project Collaboration

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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

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!! New Robotic Design Coming Soon !!

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Prosthetic: new design

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Prosthetic: current prototype

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Prosthetic: previous prototype without socket

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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%

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%