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Robotic Hand

by embeddedjunkie, published

Robotic Hand by embeddedjunkie Apr 20, 2010

Featured Thing!

Description

I would like to create this using a 3d printer. Dental rubber bands for braces act as tendons and hold the hand in a rigid state. When strings are pulled corresponding joints will fold, making the fingers open and close. I plan to have servo motors pull and release the strings.

**Here is a video of an earlier revision:**
youtube.com/watch?v=fKrzORMTyOE

**A crude prototype of the concept made from tubing, rubberbands, and zip ties:**
youtube.com/watch?v=_mID_RQ7qIs

**Testing of the "controller" glove. Only a single flex sensor installed:**
youtube.com/watch?v=OmnV2m10Eyk

**Original inspiration for this project is from:**
sciencetoymaker.org/robothand/assembl.html

**Video of the Printed Robot Hand in action:**
youtube.com/watch?v=WPuke73UgL4

**Flickr Set:**
flic.kr/s/aHsjvC1JYr

Recent Comments

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This is an excellent design, and it has great potential.

Don't you have an extra digit on the thumb?

Why are you building it from cubes, with 3D printing you can make nice and round finger tips. That would be more natural. Is it a modeling restriction?

How many motors are you planning? One for each finger and two for the thumb?

A hand is a tricky thing, the two joints (counting from the tip) operate together, but the third is almost independent (that is a minimum of two motors per finger)

i am about to have this printed and am wondering if you know anymore about the bearings? also could you share a link to the ones that do work? Great model will let you know how it turns out. Here is my email: [email protected]

The bearings are intended to reduce friction at the joints. But I will have to print the full model to decide if they are actually needed.

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License

Robotic Hand by embeddedjunkie is licensed under the Creative Commons - Attribution license.

Give a Shout Out

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Instructions

The model was scaled by a factor of 1.10 to compensate for shrinkage. The thumb base part had to be cut in two pieces to address a design error issue. Loctite blue was used to prevent the screws/hex nuts from falling out. I ran out of metal bearings, so I had to print a temporary replacement part. The "hook" part is used to tether the fishing line to the tip of the finger. Then "ring" is used to ease the model manipulation. Epoxy was used to glue parts and re-enforce weak points.

Comments

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anverx on Aug 12, 2011 said:

This is an excellent design, and it has great potential.

Don't you have an extra digit on the thumb?

Why are you building it from cubes, with 3D printing you can make nice and round finger tips. That would be more natural. Is it a modeling restriction?

How many motors are you planning? One for each finger and two for the thumb?

A hand is a tricky thing, the two joints (counting from the tip) operate together, but the third is almost independent (that is a minimum of two motors per finger)

Anonymous on May 22, 2011 said:

i am about to have this printed and am wondering if you know anymore about the bearings? also could you share a link to the ones that do work? Great model will let you know how it turns out. Here is my email: [email protected]

embeddedjunkie on May 21, 2011 said:

You certainly can.

Anonymous on May 19, 2011 said:

may use this model as a beggining point for a hand prosthesisi??

Anonymous on May 19, 2011 said:

may use this model as a beggining point for a hand prosthesisi??

Anonymous on May 19, 2011 said:

may use this model as a beggining point for a hand prosthesisi??

Anonymous on Apr 20, 2011 said:

Where do the ball bearing come into play?

embeddedjunkie on May 21, 2011 said:

The bearings are intended to reduce friction at the joints. But I will have to print the full model to decide if they are actually needed.

kaijuu on Feb 16, 2011 said:

What size screws and nuts does this need? I'm printing one soon and want to have parts ready when it's done. :D

embeddedjunkie on May 21, 2011 said:

The screws/nuts/bearings I will use I have left over from a robotics kit. I just found my lost calipers and I'll get those measurements in the next few days.

Gil on Dec 6, 2010 said:

Have you managed to have one printed yet?

embeddedjunkie on Dec 11, 2010 said:

I just got news that my Thing-O-Matic 3D printer I purchased back in September has shipped. I will begin the printing and refining process soon!!! :-D

K9markVI on May 3, 2010 said:

Do you have the files for each individual section? Awesome design too! work perfectly with some muscle wire.

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