Longer Fingers for Robohand

by CafeBikeGirl, published

Longer Fingers for Robohand by CafeBikeGirl Jul 2, 2013


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This is a collection of different length fingers for the RoboHand, the length is specified in the file name.

The current pieces include:
1 mm shorter
1 mm longer
2 mm longer

I have not test printed these, please let me know if you have and if anything needs to be fixed. More will be added as I modify them.

See http://www.thingiverse.com/thing:112140 for the proximal phal


  • July 15, 2013 uploaded step files for use.
  • July 14, 2013, uploaded SolidWorks model (requires 2012 or newer)
  • July 8, 2013, added file for 1mm shorter version.

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I am very excited that the longer digit files are available as *.stp
These files are ones I can actually manipulate with my software (123d design).
Any chance you could make the remainder of the design available in this format as well?

I have added the .stp / .stop files for the proxmal phal:

Various Length Proximal Phals for Robohand

why have you made them longer?

I was thinking about making the fingers different lengths to mimic nature's hand. Has anyone tried this in a functioning model?

I don't have a 3D printed hand to tinker with so I'm limited to modeling in Solidworks at the moment. Using fingers of the same lengths seem to work very well for most objects with parallel sides when I model them. I'll be starting to draw some more intricate objects to see how they can fit soon. One thing to keep in mind is that the human hand has many more joints and can be articulated in many ways that the current Robohand cannot and therefor trying to precisely replicate the dimensions of an anatomical hand may not work as well as one might think.

From what I've seen in solidworks and videos of people using the hand I would guess the thumb is more of a problem than the fingers at this time.

If you whip out a couple different lengths I can print and give them a try. I am also in the middle of printing out some of the inMoov hand to see if there could be some good lessons and crossover between the two.

Sounds like you and I are on the same page, I think the inMoov thumb has the most potential for integration with robohand. I think modifying the finger block for the 3rd and 4th digits to allow it to rotate a few degrees or moving the rotation point towards the center of the palm a little bit (similar to inMoov and an anitomical hand) could help with getting a tighter grip on objects and holding non-cylindrical objects.

FYI: I printed a couple of fingers of the inMoov model last week, harder to assemble and wire up... it might also take much more force to operate, but I'm not sure yet since I haven't got a full working model. (It might be because of the extra finger joint?)

Added a 1mm shorter finger, as well as various length proximal phals, and one with a relief at the ends of one of the cable channels if you are interested in trying them out.

Mainly to offer some options for those who may not have the ability to modify them on their own.