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Flexy-Hand 2

by Gyrobot, published

Flexy-Hand 2 by Gyrobot Jul 3, 2014

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Summary

2nd iteration of the Flexy-Hand. It is now wearable so it can eat at the same table alongside Robohand and the Cyborg Beast

Extra features include :

  • Gauntlet attachment via Filaflex hinges.
  • Two length/widths of gauntlet available.
  • Sculpted palm socket.
  • Discrete internal tendon channels.
  • Adjustable tensioners.
  • Discrete glove attachment channels (or alternative "Chicago Fastener" method).
  • Left and right hand versions.
  • Scaleable.

Let's get this out there and e-NABLE the future to be better for some people. Bring on the improvements, re-mixes and modifications.
Please read the following article about it too : http://3dprint.com/8122/flexy-hand-2-3d-printed-hand/

This hand was printed on a new Witbox printer kindly donated by Recreus.
.
EDIT 20/03/2014 : Added an "Opposable Thumb" version of the body.
EDIT 24/01/2015: Added a Thermoform Gauntlet that can be printed flat in PLA and gently heated to be bent into shape.
EDIT 15/12/2014: Added wide and standard thermoform mesh for the palm area. Very useful for the "Thumbless" versions where velcro attachments becomes more difficult trying to route a thumb through the palm pocket too. This is an excellent example of thermoform PLA : http://www.thingiverse.com/thing:403001
EDIT 18/09/2014 : Added a "Wider Wrist Thumbless" version of the Hand Body.
EDIT 08/09/2014 : Added a "Thumbless" version of the Hand Body, for those that still have a usable thumb.
EDIT 19/08/2014 : Uploaded a Hand Body and Gauntlets (short and long) with a 10mm wider across wrist dimension.
EDIT 12/08/2014 : Added "feet" to the flexible wrist hinge, to help increase the glue surface area.
EDIT 29/07/2014 : Increased the tendon hole diameters from 2mm to 3mm when printed at full scale. To help printing at smaller scales.
EDIT 16/07/2014 : Put hole in base of finger hinge (7.stl) so that it can be inserted into hand body easier.
EDIT 08/07/2014 : Sculpted out the socket more to make it larger.
EDIT 07/07/2014 : Updated the profile of the base hinges for the fingers (7.stl). This new profile, requires less force to close the fingers, yet it is shaped to better aid finger return.
.
Video : http://youtu.be/yVvdXgVuwGw
Video : http://youtu.be/-Gsy2TgO08w
Video - Mini Flexy-Hand 2 : http://youtu.be/cFUlxXKbJ0I
Video - Fitting a Palm Glove : http://youtu.be/B0VZqIPkkWY
Video review here : http://youtu.be/ceyZsKzNNpY Thanks to 3DUniverse and Jeremy Simon
.
http://www.gyrobot.co.uk
http://www.facebook.com/gyrobotuk

Instructions

Printing :

Please see dimension drawing of the palm socket and scale all the stls to suit your particular size requirements. There are two hand models each with their own wrist measurements, one is 10mm wider wrist than the other.
Print hand body with support, unless you can print overhangs successfully. It may be possible to print this hand body without support by leaning backwards at 45deg. I would like to try this one day soon.
Print finger segments either vertically (as modelled) or horizontally, again, I used support. Fingers and hinges from original Flexy-Hand are exactly the same as this one.
Print Hinge segments without support.
Assemble according to PDF

Hinges :

I modelled for Filaflex which is more elastic than Ninjaflex and other flexible PLA atm. However Ninjaflex does work but it maybe a little harder to assemble hence the hinges that fit into the hand body may need a little extra persuading with a screwdriver etc, maybe with some lubrication that can be washed away, e.g. liquid soap. I printed hinges with no infill and 2 or 3 perimeters (depends on scale) using Slic3r, this makes them nice and "spongy" adjust this if you want stiffer or more flexible hinges. The hinges at the base of the fingers are assembled a certain way round to aid finger return, please see section image to show this. Any issues getting the base hinges in can also be helped by using a craft knife and trimming a little off either the hinge or the body of the hand, YMMV. I find with the thumb base hinges a 45deg angle of attack is best to try and get one corner in first.
You can also cast your own with silicon sealant using the Hinge Mould which I also include here for completeness.

Gauntlet.

This is printable without support.

Thermoform version :

Print in PLA. Once printed in flat mode, gently heat either in boiling water or with lighter/blowtorch, hot air gun etc. to soften, then bend over the gauntlet's arms to 90 deg. A good idea is to place a towel/cloth over the recipients arm before forming the gauntlet to suit. In this case, I printed off a scan of the recipients arm first. Match the hinge pitch to the printed hand width. Obviously be careful when using heat.

Standard version :

There are two lengths and two widths to suit the different width wrists. The short version uses 1 velcro strap for attachment to the arm, but the longer version has slots for 2.
Connect the gauntlet to the hand by 2 off the "FFX - Flexy-Hinge Wrist.stl", again in Filaflex. Glue these hinges in place with a strong glue.

Tendons :

Choose either a non stretch tendon cord for a stronger grip, or something more elastic for an adaptive grip (think holding eggs)
Feed each end through the two filament holes in the end of the finger tip. Both ends of the filament should come out of the same hole in the base of the finger tip part (see section image plus photo). Tie off in a none slip knot (left over right then right over left) and snip off one of the excess strand. If tensioned correctly the knot should hide itself in the base hole of the finger tip. Thread the tendon down through the finger segments out of the base of the hand. Tie off at roughly the correct tension onto the gauntlet tensioners, then further adjust with the screws. I suggest M2.5mm machine screws, but it depends on your print quality.

Glove :

I guess a "Velcro" style glove attachment (see Cyborg Beast) is your best bet. Print off the "FFX - Bat_Connection.stl" in Filaflex and snip two parallel slits in the Velcro glove. The slits should be sized and positioned so that the Bat Connection just pushes through the slits and slides into the two channels in the inside of the sculpted out palm. This connects the glove to the hand, see video link in main description. Alternatively, you will notice 4 dimples in the inside of the palm, these dimples are positioned so you can safely drill through the hand avoiding the tendon lines for "Chicago Faster" connection of the glove.

Thermoform Mesh :

I bent the fastener tabs at 90deg first and then screwed the mesh into the palm area. This is tricky but with some small sharp self tapping screws you should be able to screw it the the palm area. I then heated up the mesh gently and evenly with a gas lighter until it becomes soft and pliable but not too hot to burn (emphasis). Once soft I then expanded the mesh upwards with the back of a metal spoon to create room for the user to slip their hands into once cool. A few re-heats later you should have something that would fit the recipient nicely. Don't heat up the mesh whilst the hand is in the gauntlet, wait for it to become soft but cool enough to be touched before forming it around the recipient. Allow for foam padding.

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Quick question, Do the fingers from the original flexy hand fit with this version?

Yes they sure do.

Awesome, thank you

is there any way I can get the Inventor files of this design, we want to make some changes on the hand body hand and the gauntlet for a new recipient

No Inventor files exists, this was designed in Meshmixer.

You could try this to get a STEP file : https://youtu.be/avVNfIswkMU

WOW. I have a friend whose son is missing all his fingers and they can't afford a prosthetic. Will this work for that, or are the fingers necessary?

No fingers are necessary for this to work. It works on wrist movement to open and close the fingers. Let us know if you need anyone to make it for you free of charge. :-)

We just printed the hand body and we had to size it down a bit. I am now trying to print the finger plate but don't know how best to size it to the same dimensions so that it fits appropriately. Any advice?

Can you size the fingers to the same percent age that you size the hand body to?

This is amazing! About how much time would it take to print?

Military Hospitals should have this technology to help wounded soldiers.

Hi, it is recommend to print using PLA or ABS ?

Hi, I was wondering how many spools of filaflex I should purchase? How many spools of PLA?

Apr 4, 2016 - Modified Apr 4, 2016
Gyrobot - in reply to paysonsong

Hi there,
One spool of Filaflex will last you ageas, it is just for the hinges. You can get about 3-4 hands out of a 1kg reel of PLA.
Steve.

This comment has been deleted.

This is amazing prosthetic hand. Thanks for sharing the files!

Hello, I have a gentleman I work with who would like for me to print one of these for his hand. He is missing all fingers from his right hand and part of his palm. He does have a portion of his thumb. I have printed the RH body and the wide version. The wide version is the best but I need to widen the portion by the flexible wrist joint and a little through the thumb detail. Any chance I could get a STEP file of the RH wide version so I can better fit it to his hand?

Thank you,

Feb 18, 2016 - Modified Feb 18, 2016

Hello I am an engineering student developing a prosthetic for senior project at Ferris State University in the states. Would it be possible to get a file format other than .stl? I'm modeling in creo and I'm not sure if the conversion will be high enough quality going from a triangle point cloud to a solid we shall see I'm testing it now. This prosthetic is entirely open source and free to modify correct? Of course giving credit for source models utilized. Push comes to shove it looks like blender is capable of directly modifying the mesh faces.

Hi!!! I'm having some troubles to print the finger plate... Im doing it in ABS, and what is happening to me is that is not getting stick the part in overhang... any ideas? im making support with automatic support in slic3r

Hello all!,

Was wondering if anyone has any suggestions for an alternative to the flexy material hinges (Since I don't have a printer that can)?

Thanks in advance!

The printer you used for printing filaflex flexy hand had direct extruder or a bowden tube?

Hi, it's a direct drive extruder from Recreus

Alright thanks, Can you guide me in deciding the measurements? In raptor hand I scaled the hand size according to the receiver measurements of the palm by a formula they provided. Can I apply the similar on the files you have provided?

There is a picture above which shows the dimensions of the palm socket when printed at 100% scale. You will need to measure the various parts of the recipients hand and see whether the printed hand needs to be scaled up or down. I always recommend printing the thermoformable gauntlet which is faster and stronger, then heated in hot water and bent around the recipients forearm to fit (see instructions).

hi,
I want to print thermoformable version of wrist. I need to know when I just need to bend it over the recipient hand, how would I know the actual sizes of fingers,palm and gauntlet? How can I scale up or down? I understand that the thermoformable version is to replicate the original palm, but I am unable to understand its measurements.

Thanks for previous help,

Now i need little more help, i have printed all of necessary parts to complete full hand but my "FFX_-_Flexy-Hinge_Wrist" can't work properly with my PLA printed "Gauntlet", it's fit properly but pull out when i try to bend wrist.

So, how can i fix it?
Another question for join "7"

Can i use superglue or anything else.

Thanks

Yes, please glue the hinges in place as the instructions state. Quote: "Glue these hinges in place with a strong glue."

Thank you so much!

Great design. We've printed a raptor to be used in a previous exhibit, but wanted to update the look. So far we've printed the hand/body, and molds. The gauntlet has given me some trouble but I think that's user error. The hand printed nicely without supports, but during it's initial build, of about 5% or so I hot glued 4 points around the base to help with balance worries. So far so good. Thanks for this. If we end up using this in the case, I'll be sure to pass along the credit.

Please Help!

I have printout Gauntlet_-_Short with Filaflex, but it is destroy my upper 30%.

is it ok if i print it with PLA..

Thanks

Do not print the gauntlet in Filaflex, it is meant to be rigid. Print the flat thermoformable version gauntlet in PLA and heat in hot water then once softened, bend the arms to fit

Thank you very much.
Another thing is it ok if i print tensioner in PLA?

Thanks

Yes, they are all PLA parts, or any other rigid filament, except for the files that are prefixed "FFX - ***"

Really Thanks!

Do not print the gauntlet in Filaflex, it is meant to be rigid. Print the flat thermoformable version gauntlet in PLA and heat in hot water then once softened, bend the arms to fit

Hello!
I print three part for a full finger and two joint but when i am going to bend it frequently it pop-out from socket.
do i need use super glue or epoxy to grave the socket more tightly or i need to print socket slightly bigger then it has.
Please help me!

Thanks!

I never need to use glue, but sure, you are allowed to use glue if you want a more secure finger, it's your call.

hi i intent to do the analysis of this hand.. can give the opinion of it ? thx

Impresionante trabajo, enhorabuena y, como dicen los compañeros, MUCHAS gracias!

hola muchas gracias por pensar por aquellas personas que necesitan una ayuda , siendo parte de esa gente muy agradecido y no flojen en inovar en estas protesis que hace bien a todos , esta misma protesis me la estan creeando a mi , y dentro de poco voy a empezar a crear yo para gente que necesite , desde ya muy agradecido

This comment has been deleted.

What size and type of screws are used for the tensioners at 100% scale?

what is the best cartridge for this? it's ok if I using nylon and infinity?

Nov 18, 2015 - Modified Nov 18, 2015

what is the sizes of this? can you give me the details? every piece of the flexy. thanks :) and I'm using cube pro trio? is this possible to print this one?

I'm trying to make a cost estimate of this Thing. Can anyone give me an estimate on how many grams of filament, the types of filament, are used?

It's about 6gbp in PLA and about 1gbp in Filaflex hinges. A bit of velcro and 5 wood screws, and some nylon blind cord. About 10-15 GBP should give you some change. Add print time and labour, which of course is free because it's non-commercial ;-)

I'm not familiar with the units gbp, could you please describe?

I found Filaflex available at Recreus. Is it necessary to purchase a special extruder for it? We have the MakerBot Dual Extruder.

Thanks again!

GBP is standard currency abbreviation for Great British Pounds.

Regarding Makerbot :
http://youtu.be/8TtJvXp-nrQ

Oct 19, 2015 - Modified Oct 19, 2015

GRACIAS POR PERMITIR DESCARGAR SU MODELO VOY A TRATAR DE IMPRIMIR LA PRIMER MANO Y BUSCAR A UNA PERSONA QUE LA NECESITE A QUI EN GUATEMALA

This comment has been deleted.

The list of STL files seems to be missing palms for opposable thumbs for normal width wrists. The set of STLs is so complete, I suspect that I am missing something. Any pointers?

    George B.
Sep 19, 2015 - Modified Sep 19, 2015

Hello Friends,
Please watch my make. Simply horrible, I felt ashamed and was thinking no to publish it but had the hope that somebody wanted to give me some advise. My auto critical conscience says that:
a) It was bad idea to print it with 0.3 mm high layers instead of 0.2 mm. The printing had incidents and defects that I had to correct by carving and soldering some parts of the palm.
b) The fingers are very flaccid and don't retract due perhaps to the kind of putty mix of silicone that used for the joints. (too soft)
c) Maybe was such a bad idea to use fishing line for the tendons even though I bought the strongest line available in eBay.
d) I couldn't calibrate the tensors due to the flaccidity of the fingers.
e) Last and very important nonetheless: I didn't use support material for all the parts of the fingers.
I still hope that this hand can be salvaged and be given away to somebody who may need it.
Would you people be so generous to give me some heads ups?
I am thinking to make a new one after knowing what my mistakes were.
Your opinions will be greatly appreciated.

Victor

Incredibly ingenious and simple design for a prosthetic to those whitout functioning fingers but still have their palm and a working wrist <3

Hello again, After finished assembling the hand I noticed that the fingers are flaccid due to the hinges are a little bit large or deformed; this happened because forced too much the hinges out of the molds; maybe I should have put some vaseline in them before to put that putty mix that takes like 20 minutes to get hard, I let them stay one hour but the results were no good. Vaseline helps to install the hinges on the fingers parts very easily but the resultant grip is not the best.
Your opinion will be greatly appreciated .

Sep 7, 2015 - Modified Sep 7, 2015

Hello, I finished printing most parts of this hand and I'm working on the mold for the hinges. I understand that I am going to be able to bend to curve the gauntlet without break it by heating it in hot water: Could you please tel me how much hot should be the water? How much time should be the gauntlet immersed in hot water in case a pot is required? . I'm using regular quality PLA 1.75mm. My Flexy hand is not as perfect as others made here because I had hard time trying to take off some of the support material and unblocking the tendons channels ; I am making this hand with a "troglodyte" Prusa I3 that I made myself but I still believe that is going to be useful for someone who needs it. I'll publish pictures of it as soon as it is finished. Thank you much for your help.

Sep 8, 2015 - Modified Sep 8, 2015
Gyrobot - in reply to Bioethical

Hi,
The water should be 60-100deg. ie near boiling, poured onto a dinner plate or baking tray. Wear gloves (ie rubber), although my fingers are ok with this water for the short time you are handling the hot plastic. Practice with some old prints first so you can get an idea of the time, if it doesn't form to the perfect shape straight away then re-submerge and re-bend.

Steve.

Sep 12, 2015 - Modified Sep 13, 2015
Bioethical - in reply to Gyrobot

Hi Steve, I finally printed the gauntlet with PLA and its finished as same as the tensors. The hand is almost assembled except for the Velcro parts which I haven't decided to affix either with four screws or to make a piece of silicon using the two channels in the middle of the hand as mold ( I need to calculate the thickness of the velcro so the piece of silicon reach down to the bottom, and don't know how to do it yet). I'm going to use fishing line for the tendons. Also I need to know what is the theory regarding the tensioners. Do they help to retract the fingers to a straight position or the hand is normally flaccid? (the tensioners have a tubing and a sort of turning point inside). Your insight at this point will be immensely appreciated. By the way, I feel proud of my hand already. Thank you.

I just bought a printer so I could make one of these... Yikes!

Hello , my name is Nazareth and I would like to learn to do this project my question is what kind of printer is needed to print all the parts , I 'm from Mexico and I would love to help many people with this great project !.

Hi!

I want to ask which material can i use for the hinges since i have a zortrax but doesnt print ninja flex material.

Thanks a lot =)

Hi,
How do you make sure the wrist hinges do not come out or the fingers do not slide off the hinges? Is any glue applied?
Thanks

Hi, you can apply glue to the finger hinges if you want a more permanent fixation. However it is recommended in the instructions that the Gauntlet hinge is secured with strong glue.

Aesthetically pleasing, much sexier than the robohand, and cyborg beast imho.

zzzzzzzzzzzzz

Gran aportación a la comunidad. Gracias

Has anyone built this with ABS? also what is the bulid size for the biggest piece. I have an U Plus 2 that can build up to 140mm only. will this work.

I'm using ABS, I think the size is already set.

someone has the "stl" file for the forearm in which you can attack the flexy hand? Thank you all (see the video for reference https://youtu.be/T9nngOrdPkg)

Sir will u please upload IGES format files ...........i plan to edit to modify the design ..........

No IGES files exists, this was designed in Meshmixer.

You could try this to get a STEP file : https://youtu.be/avVNfIswkMU

While printing the finger plate i had the lower sections on the index and middle fingers mess up and they wont attach properly. Are there individual files for each section I can print so I don't have to print the entire finger plate again?

Please see original Flexy-Hand model : http://www.thingiverse.com/thing:242639

Flexy-Hand
by Gyrobot

Very Nice Indeed Loved it

after very thanks and grateful Sir i would like to say you the second generation of flexy hand is really great and one question please . how many kilo gram this hand can carry ?

Awesome design, great work!
One question:
Is it possible to provide a version for a hand where the thumb and index finger are functioning?
Thanks in advance.

The thumb and index fingers do function.

Yes, I know. But what I ment was that I'm looking for a design which excludes the thumb and index finger, because these are 'present' on the hand.

Print off the Thumbless version and dremel off the printed index finger to suit your recipient.

Hmmm That will work... I'm going to do the same... Unless I figure out how to modify the design.

how to make bat connection....

Print it in Flexible filament and fit according to the video : http://youtu.be/B0VZqIPkkWY

Nov 22, 2014 - Modified Nov 30, 2014

Flexy Hand is getting some press.
I made one for a two year old boy named Henry and my employer (Intel) did a story about it internally.
It is now available externally at Intel Free Press.
http://www.intelfreepress.com/news/3d-printing-hand-prosthetic/8924/

Gyrobot, two things:
A) Flexy Hand is an awesome design. This hand was scaled down to 55% and it printed like a dream
B) I did say the words Flexy Hand and bunch of times, but none that made the 2:30 piece. Sending props your way as much as I can.

Has anybody made a video tutorial on how to assemble your design? Something like the assembly video tutorial that Jeremy Simon shows for the different types of hands available at E-Nabling the Future (http://youtu.be/5HVwC3RnWXk). That would also be really great!

Thank you. If the printing is better but I can not print Filaflex because when the material reaches the peak it does not, strangling everything in the way the material. I'm seeing a little cursing I can print. But I want to do the hinges just because I have all other printed pieces I thought of using the mold and melt the material.

Have u considered buying silicon mould and using the template supplied?

Hello. A query. I have everything printed, just missing me filaflex hinges.
When I try to print in the matrial filaflex bends, ie not peak out material that is folded into the extruder block. MY query is, with no mold, filaflex can melt or silicone, put it in the mold and do have the hinges without having to do them with the printer? At what temperature should melt in filaflex? greetings

Filaflex melts at about 200deg C. For printing it is best at 230deg C.

Oct 13, 2014 - Modified Oct 13, 2014

nice job.
would it be possible to modify the tip of finger to include some "fingerprint" (lines or circles) printed with soft material like filaflex.
this would allow to dampen contact of the hard plastic and reduce noise.
the same could be also done at joints from the palm piece and the first finger piece.
eventualy coating the inside if the hand with a layer of filaflex would be great.
thanks

Do you just scale down to get the Mini Flexy-Hand 2, or how would I go about making one.

Yes, the mini version is just scaled down at 60%

Thank you

which material can be used

For the main parts: PLA, ABS, Filaflex, Nylon etc.

But the hinges have to be made of flexible material, eg Filaflex.

It would be great to have a version with a removable backplate (dorsum) which could be texturized or customized by the end user... It's a beautiful prosthetic, I would like to be able to make it beautiful and an expression of the individual wearing it.

Hi there. I made Flexy-Hand 2 using a PolyFlex.

However, the PolyFlex was too solid to this.

Therefore , it was very hard to make a base of the thumb.

the base of the thumb, I hope the insertion by sliding the same way as the fingers.

Hi there. What kind of screws takes to grab the tension?
greetings

Sep 4, 2014 - Modified Sep 4, 2014
Gyrobot - in reply to el_chompiras29

Any kind of woodscrew should grip into the tensioners at the right size. i.e 3.5mmx25mm if you printed at 100% for example YMMV.

Sep 2, 2014 - Modified Sep 2, 2014

Hi, some questions:
what is the weigth of the whole hand?
What could be a good infill percentage?

Thanks

Sorry, not sure about weight, I have never weighed one.
Regarding infill. I slice the hand with Craftware @ 10% infill. I use the "Infill Angle Increment" option which is great for supporting the top surface layers whilst maintaining a sparse density. Check out my tweet : https://twitter.com/gyrobotuk/status/493417221071581184 to see the difference.

Hi there. Two queries:
1) Mould.stl file it for? which meets function at hand.
2) FFX -- Bat_Connection Orientation_1.stl, printed in PLA or FILAFLX?

Thank you.
Greetings.

Sep 1, 2014 - Modified Sep 1, 2014
Gyrobot - in reply to el_chompiras29

Both questions are answered in the instructions.

  1. Mould.stl file is if you want to cast your own hinges.
  2. Bat connection is printed in Flexible filament, I print with Filaflex. Also see video, "Fitting a palm glove", link above.

Could be able to get a 3d model of the assembled hand? i would like to make a mechanism study on catya, to see how it works under different forces aplied.

Please see additional uploaded assembly stl's

Gyrobot...have you or anyone else worked on a hand that could be used by a quadriplegic that has shoulder, elbow and arm movement
but cannot move his/her hands or fingers?

Hi, not personally, the e-NABLE organisation (of which I am a member : http://enablingthefuture.org/) has lots of different projects currently in design. We have elbow actuated hands, but these are for people who have no forearm. We also have myoelectric arms but again, these are for arm less recipients.

Maybe you could join the e-NABLE group and also ask on their Google+ community.

Aug 11, 2014 - Modified Aug 11, 2014

Could someone possibly separate the finger parts into separate files? My printer cannot get through the long print successfully, so it would be nice to be able to print one part, or atleast fewer parts, at once.

Hi, as mentioned in the instructions, the fingers and hinges are the same as the original Flexy-Hand, please download separate finger phalanges from there

A thumb cut out version of this hand would be extremely useful for me. (I've got an partial amputation in my right hand and my thumb is functional.)

Hi, you could always print, and dremel the thumb off (from the printed hand, not yours haha) and see if it fits? I will be looking to incorporate the extra thumb base hinge soon, which will have the benefit of making the thumb removable.

Trimming the thumb or another part can produce a sharp surface, maybe it can cause an abrasion on the skin of my hand. Better i will search for another solution.

If you don't find a solution you are welcome to test the removable thumb version when it becomes available.

Aug 5, 2014 - Modified Aug 5, 2014

This is an amazingly well-made design! Thanks for sharing the 3D files with the world!

Aug 4, 2014 - Modified Aug 4, 2014

thank you very much ... Another query. Hand printed with this handout? percentage of filler that has printing? with that type of material was printed, PLA, ABS?

The hand is printed with support unless your printer is good with overhangs. The infill percentage about 20%

La mano se imprime con el apoyo a menos que su impresora es buena, con voladizos. El porcentaje de relleno alrededor del 20%

Hola. Soy de Argentina. Una consulta. Tengo que modificar la mano para adaptarla a otro medida pero como es un archivo .stl no puedo modificar. Yo uso Solidworks, como puedo hacer para convertir estos archivos stl en otro formato para poder modificar? Mi ingles no es muy bueno :-) Gracias. Saludos

Wow, fantastic. I've made some tweaks to the robohand design and have wanted to make something that looked more like a hand but my surface modeling skills in Solidworks are non-existant and trying to scan my hand with a CMM is a little complicated, lol. I too would also love it if .step files (or something in SolidWorks format) was uploaded. Are their any existing design flaws that would be easier to tweak with a more powerful program like Solidworks?

Very good work!

Jul 30, 2014 - Modified Jul 30, 2014
Gyrobot - in reply to CafeBikeGirl

I used a combination of FreeCAD, Meshmixer and Blender so if you want a STEP file, maybe follow this : http://youtu.be/avVNfIswkMU

print looks great!

What machine was it printed? Its silky smooth at least in the video

In the description, I state it was printed on a Witbox.

Great design for a very important social problem, another Filaflex demonstration by Girobot.

Dear, Can you please describe the proper usage of FFX_-_Bat_Connection ? How it is mounted, material (Flex or solid). Mounting hand inside the FlexHand?

Hi, you can see it in the CAD renders above, also the instructions are in the instructions tab under the "Glove" section.

How long will this take to print?

Depends on your printer and settings. It's at least two print jobs, one each for the non/flexible filaments.For me, I can now get all the non flexible bits on my print bed and about 15 hours later, it is done. The Filaflex hinges are just over an hour, YMMV

I want to make one of these for a poor woman I know in Honduras, she is very poor and supports herself by sewing but does so with two stubbs because she has no hands. She's pretty amazing.
I'm going to have our people talk to her and see if she would be interested.
Have you given any thought to the control mechanism?

Hi, I am not sure what you mean by control mechanism? The gauntlet straps to your arm and the printed hand straps to your own via a "glove". The flexion of your wrist closes the fingers.

We printer the body hand without support worked great, also printed with rist part without support, moving onto fingers now.

This is a wonderful design. But like the original RoboHand, the mechanics are upside down. The fingers should open in down position and close in the up position. (Try throwing a ball with your wrist flexed down.)

Are the design files available for modifications?

I used Meshmixer, so if you want a STEP file, maybe follow this : http://youtu.be/avVNfIswkMUhttp://youtu.be/avVNfIswkMU
Or import into openSCAD, or remix in Meshmixer again.
Anything in particular you want to do?

You designed the hand in Meshmixer? That seems like a great deal of work.
I wanted to redesign the hand around a specific user's needs, But starting almost from scratch with STL's is an unappetizing thought.
Better to start fresh in Solidworks, than chisel away in meshmixer or Blender.
Thanks anyway.

Depending on your needs, you could consider scaling the parts. You can do things like match hand sizes with simple scaling...

I printed the finger plate (right), but it's unclear which segment is which in the hand drawing. Is there a chart I'm missing where each of the segments on the build plate is correlated with its item number in the hand drawing exploded view? Thanks in advance for the help.

More feedback. Since I don't have a Makerbot (for shame!), I got a friend of mine to print the hinges in Makerbot Flexible Filament. He decided to print them with 4 shells and 40% infill, which was fine for the joints between phalanges with grooves but I could not get them into the base of the hand without breaking them. I have him trying again, this time with your suggested settings; I'll let you know how it goes (and then the pictures will come!).

The ones that go into the base are a bit of a pain. A thin flathead screwdriver is a useful tool and a bit of liquid soap which you can wash off afterwards helps. Also I used Filaflex, so I am not sure how elastic the MB stuff is with my settings. Basically you want them almost hollow so they squish easier, but enough perimeters so that the finger returns successfully. You could always print off my hinge mould and cast your own with silicon caulk.

Got it to work with Makerbot flexible filament and 2 shells with 20% infill, for the hinges closest to the hand. It's a little "squishy," so I might try the caulk method, anyway. We'll keep playing with it. Will try some other settings for the flexible filament, as well.

I see you managed to sort out the finger bits properly ;-)

Most of it is a process of elimination.
The thumb is easy.
The longest segments are for the middle finger
The shortest segments are for the small finger.
For the index and ring finger, the phalanges that fit onto the base of the hand are different in shape enough for you to distinguish by their curvature with the hand body. The last four phalanges that are left don't really matter, it's your personal preference whether you want your index finger longer than the ring finger.

By the way: I tried printing the hand body at a 45 degree angle as suggested and my printer (a Dimension SST 1200es) removed most of the support material (it's awfully picky about overhangs). I imagine that a Makerbot would have no trouble at all.

Thank you for this feedback, I look forward to your pictures ;-)

Don't worry; pictures are forthcoming. Thank you for all of your high quality hard work!!

Ok. I printed on a machine which has support material which requires a lye bath, and I was afraid to just pitch everything in there only to be unable to figure it all out, later. You've emboldened me; I'll give it a try! :)

Another great looking design - I just started printing one so I'll bring it to the hackspace when its done.

Can you give me the info on the screws needed? Thanks

Hi, in the instructions, it is suggested to use M2.5 machine screws. Buy long ones, then you can snip to the length you want. I still had to clean out the holes in the tensioners though, so there is scope to use alternative threads and/or sizes.

HI!
The print looks great!! was there any sanding done? What setting did you use for the Fill, Layer thickness, Shell,and Speed?
Great Print!!

aiii!!! now I have to print everything again. I just printed everything except for the hinges YESTERDAY! lol

Oh dear, sorry about that. You can keep the fingers though ;-)

Amazing. Thank you for your hard work!

This is BEAUTIFUL!

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