Features
Strong grasp
Low cost
DOF 15 (3 for each finger)
5 Servomotors (Index Flexion, Middle Flexion, Ring + Little Flexion, Thumb Flexion, Thumb Rotation)
Control: URCaps, ROS Driver, Serial Bluetooth
Control modes
Relax
Grasp : small | power | mon-key | pinch
Raw : index, middle, ring-little, thumb, thumb-rotation
Gallery
Development Tools
Software
CAD design: Blender
PCB design: Osmond PCB
Firmware programming: Arduino IDE 2
Hardware
3D Printer: Sovol SV04 Dual IDEX Printer
Consumables
PLA, TPU95, Silicone
Main Electronics Components
MCU: WaveShare Servo Driver Board
ServoMotors: WaveShare ST3215
License
Hardware (CAD files): CERN‑OHL‑S‑2.0
Documentation: CC‑BY‑SA‑4.0
Software & Firmware: GPL‑3.0‑or‑later
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