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Talon Hand 2.0 (now 2.7)

by profbink, published

Talon Hand 2.0 (now 2.7) by profbink Jan 19, 2014

Description

This is a remix of Makerbot's snap pin robohand. Thanks go out to the designers of the "Complete Set of Mechanical Anatomically Driven Fingers", Ivan Owen of Mech Madness Designs http://mechmadnessdesigns.com/ ; Richard Van As of Robohand http://robohand.net/ ; Michael Curry, the designer of the Snap-Together Robohand ; and to all the collaborators at e-NABLE https://www.facebook.com/enableorganization
I've optimized the design to be more ergonomic/comfortable, and to use leather as an interface material. With 3 pieces of leather you can mount this prosthetic device to a person lacking fingers on one hand.
Two sets of fingers are included: One with snap pins and one for Chicago screws.
Here's a clip of my son Peregrine putting on his Talon 2.2:
https://www.youtube.com/watch?v=sxmC1vYa0RM&feature=youtu.be
And here's he is playing at home:
https://www.youtube.com/watch?v=2L0zBrq43E4&feature=youtu.be
After upgrading to 2.7, and some 2.0mm monofilament cables:
https://www.youtube.com/watch?v=rtojLN_BHts
For more information or to get involved, visit http://enablingthefuture.org/
Now available here is a wide unipalm and matching wide cable guide. Thanks for the great mod, Ivan Owen!
***Significant upgrade on Feb 5, 2015!! Please provide feedback on the new files, and contact me if you need old files. There is now a cable anchor that takes 10 set screws, two for each cable, to prevent cable slipping, and the cable guide now has a left and right version, and better guides the cables, so that monofilament can push as well as pull, therefore obviating the use of elastics. :D

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Here is probably the best way to determine the print scale for a device. Or I should say, this is how I do it, and I've had pretty good success so far: You will need an image from DIRECTLY ABOVE the client's affected limb laid flat on the table, with a ruler next to that limb. Best if the camera can also be at least 4 feet away from the table, to reduce distortion. If you can get over two meters away, that's even better. Feel free to use zoom and high resolution so that the markings on the ruler are easy to read. Then follow the video tutorial. https://www.youtube.com/watch?v=aWRIi4bRGHs You will want this file to get started, unless you're already familiar with Blender: http://www.thingiverse.com/thing:564844

Ok help me out here. I'm trying to build a hand for a friend. I have very little experience with this so not sure on the scaling. I have printed a crosscut of the palm section at 1.6 x. but there is no way it will fit my friends hand. I see other comments that this should be for an adult male. My friends hand is 3 1/8 inches across the palm which is a somewhat small hand. Across the pam and thumb is 3 3/4. Yet at a 1.6 x scale the narrowest part of the palm section is only 2 3/4. Is that what I should be trying to fit? If someone can help me I'd really appreciate it. I don't want to spend a few days printing and assembling this to have it 1/4 in to small :). I can email you a pic of his hand if this will help.

Oh and also ... Should I scale up the cable guide and tensioner? Or leave them the standard size?

Here ya go. :) PalmStencil; SnapPins; ProxPhalSnap (if these are too thick, print PPSnap4small); FingersSnapShort; For one arm strap: OdyBarsFat3; If you're using two straps (recommended): ArmBarsStrapFat2.2; CableGuideRight; CableAnchor2.7; UnipalmRight; Let us know how it goes.

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License

GNU - GPL
Talon Hand 2.0 (now 2.7) by profbink is licensed under the GNU - GPL license.

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If you print this Thing and display it in public proudly give attribution by printing and displaying this tag. Print Thing Tag

Instructions

Instructions
You can print everything but the finger distals with no support.
Ivan Owen has published an excellent step-by-step tutorial, in 3 parts:
https://www.youtube.com/watch?v=Ii_OYzhCcJg
https://www.youtube.com/watch?v=euwrdJRZ8TY
https://www.youtube.com/watch?v=fyoGKtI4KHY
Thank you Ivan!!
I'm working on detailed written instructions for all my wrist-powered devices at:
https://docs.google.com/document/d/1vJ-PtmFIwVkH40VfMw4m3pqWTApRizhIPzMrzEmNxDc/

The cable anchor for the Talon Hand uses set screws. I used round trimmer line (like for landscaping) for the cables, and found that in a small print, if I mount the anchor forward and close to the cable guide, the hand will open without elastics. The cables push and pull. If your hand is not opening satisfactorily, you can install elastics. But if possible, avoid elastics, since they make it more difficult to close the hand.
Here is the hardware list for a build at the scale of 1, a good size for a 4-5 year old child.
wrist hinge: (2) 8-32 x 5/8" flat head hex screw; (2) 8-32 nylock nut
Anchor mount: (3) 3m x .5 x 8mm flat socket cap screw; (3) 3m x .5 cap nut
Cable anchor (5) set screws 6-32 x 1/4
Cable guide: (4) truss head sheet metal screws #4 x 5/8
Palm leather tacks: (16-20) truss head sheet metal screws #4 x 3/8
Leather to arm bars: (8) 6-32 x 3/8" flat socket cap screw

  • a layer of 1" nylon webbing: (1) 6-32 x 7/16" flat socket cap screw
  • 2 layers of 1" nylon webbing: (1) 6-32 x 1/2" flat socket cap screw
    3 pieces, each ~a foot long 0.05" round trimmer line (landscaping type) for the cables. Fingertip ends of the line are melted into balls with a lighter so that they catch in the tips.
    I typically build this for Peregrine, my adult son, at a scale of 1.6. He has an extra-large right hand. Obviously, the hardware should be larger for his build. Here's a list of hardware:
    Talon Hand/Ody Hand at scale of 1.6:
    10 Arm Bar Screws #10/24 x 3/8 or slightly shorter flat socket cap screw
    2 Wrist Hinge 1/4" x 3/4" and nylock nuts
    20 Palm Tacks #6 x 1/2
    5 Set Screws
    4 Cable Guide Screws
    Cable anchor 3 flat socket cap screws and dome/acorn nuts
    Nylon or Poly webbing for strap(s) and/or palm reinforcement.
    You should have three pieces of leather: One very thick, for the one med
    You can make a closure with Velcro or double D-rings. OdyBars are for a child's device and uses a single strap on the third hole. There is a space so the strap is comfortable between the plastic and leather. ArmBars are for an adult's device and use two straps. Loop the straps in holes 1 and 3.
    If you print small, the spaces between the parts will be smaller, so more finishing is usually needed. If you print the device small (100-130%) use PPsnap4small instead of ProxPhalSnap (better for 140-160%)
    Now there is a zip file containing Ivan Owen's wide palm Talon Hand. Thanks again Ivan!

File Name

Downloads

Size

Mar 28, 2015 - Modified Mar 28, 2015

Ok help me out here. I'm trying to build a hand for a friend. I have very little experience with this so not sure on the scaling. I have printed a crosscut of the palm section at 1.6 x. but there is no way it will fit my friends hand. I see other comments that this should be for an adult male. My friends hand is 3 1/8 inches across the palm which is a somewhat small hand. Across the pam and thumb is 3 3/4. Yet at a 1.6 x scale the narrowest part of the palm section is only 2 3/4. Is that what I should be trying to fit? If someone can help me I'd really appreciate it. I don't want to spend a few days printing and assembling this to have it 1/4 in to small :). I can email you a pic of his hand if this will help.

Oh and also ... Should I scale up the cable guide and tensioner? Or leave them the standard size?

Here is probably the best way to determine the print scale for a device. Or I should say, this is how I do it, and I've had pretty good success so far: You will need an image from DIRECTLY ABOVE the client's affected limb laid flat on the table, with a ruler next to that limb. Best if the camera can also be at least 4 feet away from the table, to reduce distortion. If you can get over two meters away, that's even better. Feel free to use zoom and high resolution so that the markings on the ruler are easy to read. Then follow the video tutorial. https://www.youtube.com/watch?v=aWRIi4bRGHs You will want this file to get started, unless you're already familiar with Blender: http://www.thingiverse.com/thing:564844

e-Nable Device Sizing Blender file
This comment has been deleted.

I only want to make a right hand with all fingers and thumb not really sure which files to print. Is there a list? I see instruction for how to assemble but nothing about what to print. All pics and video seem to be for a left hand not right.

Mar 22, 2015 - Modified Mar 22, 2015
profbink - in reply to Fullsized

Here ya go. :) PalmStencil; SnapPins; ProxPhalSnap (if these are too thick, print PPSnap4small); FingersSnapShort; For one arm strap: OdyBarsFat3; If you're using two straps (recommended): ArmBarsStrapFat2.2; CableGuideRight; CableAnchor2.7; UnipalmRight; Let us know how it goes.

IS THE SCALE 1.6 FOR ADULT MALE HANDS - PLAN TO PRINT ONE RIGHT AND ONE LEFT

ANY INPUT ON THE TALON HAND NORMALLY CLOSED - WHICH IS WHAT I WANT TO END UP WITH

I've never made a normally closed device, so I can't tell you for sure if it will work very well. I think it should work just fine. Please let me know how it goes. Yes, a 1.6 scale print would be for a large adult male hand. 1.7 is really huge. Most grown men would fall between 1.5 and 1.6.

Hello! I am rebuilding the talon hand from the ground up in Solidworks to provide on Thingiverse and share with the e-NABLE community. It would be very helpful to know what the intended dimensions were for some of the features. I can measure my own printed Talon, but for the tight tolerance stuff like hinge diameters, snap pin dimensions and tolerance given between rotating surfaces it would be nice to get the exact numbers.

Thanks in advance!

Barrett! This is wonderful!! Thank you for making a Solidworks version. My feeling is the more people who have access to the designs, the better. I'd be happy to work with you, but I'm totally swamped at the moment, between making a deadline on the collaborative E-Nable Hand 2.0, projected for release at the end of September, and the beginning of the school year at the high school where I teach. If you can't use a program that puts grid lines on .stl imports (like Blender) I'd suggest printing at a giant scale, like 200% and cutting measurements in half. That will greatly reduce the margin of error caused by differing levels of extrusion by different printers. Navigating around an object in Blender is pretty easy. Select metric, hit numpad 5 for ortho view, and use numpad 1,3,and 7 for front, side and top views, respectively. MMB spins the view and shift-mmb pans. Mouse wheel zooms. Z toggles surface Please let me know if you have specific questions. When you design, moving surfaces should have a gap of .5mm, so they slide freely. Thank you very much!

Great advice! I'm looking forward to seeing that e-NABLE 2.0, Ivan Owen was very excited about it when he visited last week.

will be fabricating soon.....

thankyou for The Thing, plz let me know how can i credit you.

You don't have to credit me at all. If you want to, you can, but I have no need for attribution. I just want the designs to benefit people and to be available to all. When you finish, I'd love it if you'd share photos on the page. Also, if you're not a member of the e-Nable Google group yet, you should really join up. Also go to http://enablingthefuture.orgenablingthefuture.org to read our news. Are you making a Talon Hand for a person?

if i want to make a left hand version what do i download to get the right thing.

Hey mavadata, just print the "unipalm left" instead of the right-handed one. Everything else is symmetrical. (I actually have never made the right-handed version, although a couple of my friends have.)

so just download the "unipalm left" and everything else would download whatever is needed for the left hand?

Ok, I just updated the snap distals. You can use the FingersSnapMed and FingersSnapShort files. I'm going to try the short ones, to see if the grip is improved.

Unless you can get chicago screws, print the snap version of the fingers. I'm in the process of fixing some of the shorter fingers, so the longest set (FingersSnap) is in the best shape. You'll print the snap version of the proximal phalanges (ProxPhalSnap) Definitely also use the curved arm bars, or even the arm bars for the Ody Hand, since they are much more comfortable. Print a few spare snap pins in case you lose one. Print also KnucklePins, PalmStencil, CableGuide and CableAnchor.

ok thanks

I just removed the straight arm bars, and added in the bars from the Ody Hand to this page. The straight bars were a mistake. The Ody Hand bars fit better and have space so that a strap can be added without hurting the wearer.

There are new arm bars for an adult build. #8 flat head screws tap right into the holes when printed at 1.6 (a large male hand)

What are the advantages of this Talon Hand compared to de Robohand? How functional is it, has it been tested on patients?

The Robohand files are great, but not entirely complete. The snap-together Robohand is also great, but a bit tricky/hacky to get to work on an actual person. I designed the Talon to be ergonomic and user-friendly. My son uses it, and there are a few other clients who use it too. The designs are based on extensive testing and tweaking, and I update the files frequently.

Profbink, I sent you a message, did you recieve it?

Wrote a reply and forgot to hit Send. You should have it now.

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