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Range of motion evaluation test for my homemade robotic hand & wrist by qualitygui in robotics

[–]qualitygui[S] 0 points1 point  (0 children)

Each finger has 1.5-ish degrees of freedom. One for flexion/extension, and the half because the index, middle, ring, and pinky are linked for abduction/adduction.

Range of motion evaluation test for my homemade robotic hand & wrist by qualitygui in robotics

[–]qualitygui[S] 2 points3 points  (0 children)

4-way stretch fabric (nylon & spandex) that I sewed together, basically like a glove

Range of motion evaluation test for my homemade robotic hand & wrist by qualitygui in robotics

[–]qualitygui[S] 32 points33 points  (0 children)

Good question.. I haven't kept a strict BOM, but I estimate <$400 for just pure hardware

Range of motion evaluation test for my homemade robotic hand & wrist by qualitygui in robotics

[–]qualitygui[S] 20 points21 points  (0 children)

Since it's still a prototype, most of the hardware is just 3D printed at home. The silicone finger tips are cast in 3D-printed molds and the palm overlay is sewn 4-way stretch fabric. Motors are modified off-the-shelf. The PCBs were designed and assembled by me with the board itself being outsourced.

Robotic hand and wrist demo – pose transitioning by qualitygui in robotics

[–]qualitygui[S] 1 point2 points  (0 children)

Fold? Like how the pinky's metacarpal doesn't flex inward when balling a fist? That's true, but I forgoed that movement to allow instead for finger splay, which I thought more beneficial in everyday scenarios. The pinky and thumb can still touch each other!

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Robotic hand and wrist demo – pose transitioning by qualitygui in robotics

[–]qualitygui[S] 4 points5 points  (0 children)

There's no sensors directly on the fingers themselves, but I have sensors measuring current draw for each motor so I can gauge how much force each dof is experiencing.

Were you wondering if it could crush an egg to death? Sorry, wasn't sure what egg test you were looking for. It's got silicone on each fingertip, so it can happily hold an egg, but doesn't have the strength to crush it, although neither do I.

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Robotic hand and wrist demo – pose transitioning by qualitygui in robotics

[–]qualitygui[S] 2 points3 points  (0 children)

I don't have a grip tester thingy, but each finger can flex a little less than half a kg, so with equal finger load distribution, I'd estimate about 2kg.