A 3D-printed robotic hand with underactuated fingers and compliant flexure joints.

The model T is an open-source, low-cost, robotic hand that can be created through rapid-prototyping techniques and off-the-shelf components.

The hand has four fingers with compliant flexure joints and is driven by a single actuator through a pulley tree differential. During grasp acquisition, each finger will continue to move until the links make contact with the object, reducing the need for sensors or feedback control.

Yale OpenHand Project Model T

The model T is an open-source, low-cost, robotic hand that can be created through rapid-prototyping techniques and off-the-shelf components.The hand has four fingers with compliant flexure joints and is driven by a single actuator through a pulley tree differential. During grasp acquisition, each finger will continue to move until the links make contact with the object, reducing the need for sensors or feedback control.To make sure the hand is compatible with 3D printing technologies, the finger designs are converted to structures that have a minimal number of small features and parts.

Overview of the characteristics of underactuated, compliant hands used in this design.
Details of the design considerations to meet the requirements of open-source and 3D printing. Describes the build process for a prototype of the hand; in particular, the SDM process used to create in-molded elasto

A Modular, Open-Source 3D Printed Underactuated Hand 

Provides a brief overview of the biomechanics of the human hand, followed by an in-depth review of kinematic models presented in the literature. Kinematic models for different joints are discussed, along with the explicit and implicit assumptions commonly used in applying the models.
General applica

Assessing Assumptions in Kinematic Hand Models: A Review

Includes the parts-list, 3D-printer settings and step-by-step assembly instructions.



Assembly instructions Yale Model T [PDF]

Project's page on the website of Yale University.

Contains the repository for various models within the Open Hand Project. Different models share common components and software.
Repository contains CAD models and software.

Yale Open Hand Project on Github.com

Fingers

Base height	

Base Width	

Weight 

Grip Force	

Actuators

Material

Fabrication Technique	

Costs

A 3D-printed robotic hand with underactuated fingers and compliant flexure joints.



Fingers	4
Base height	75-90	mm
Base Width	100	mm
Weight	400	g
Grip Force	10	N
Actuators	1