R O B O T G A R A G E

Open Source Robotics Projects

Rebelia Hand

Features

Strong

3D printable

Cheap

Reliable EMG control (skin surface)


Photos

Current Version


Progress

MOTOR SELECTION 100%

BATTERY SELECTION 100%

ELECTRONICS BOARD 90%

FIRMWARE DEVELOPMENT 95%

SKELETON DESIGN & TEST 95%

FINGER DESIGN & TEST 95%

PALM AND BACK COVER DESIGN & TEST 75%

HIGH GRIP GLOVE SELECTION 80%

GRIP PADS DESIGN AND TEST 100%

WRIST DESIGN & TEST 100%

LOWER FOREARM COVER DESIGN & TEST 80%

UPPER FOREARM COVER DESIGN & TEST 30%


Grasp Reliability

POWER GRASP 100%

PINCH GRASP 100%

MON-KEY GRASP 100%

SMALL POWER GRASP & FIST 100%

TRIPOD GRASP NOT DONE YET

Additional Gestures

RELAXED 100%


Deevelopment Tools

Software

CAD design: Blender

PCB design: Osmond PCB

Firmware programming: Arduino IDE 2

Hardware

3D Printer: Sovol SV04 IDEX Printer

Consumables

PLA (Skeleton) : Jabil PLA 3100

PLA (Covers) : Polymaker Polyterra

TPU (Fingers, Palm): Recreus Filaflex 82A

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 by Vittorio Lumare is licensed under CC BY-SA 4.0