University of Washington
Weight (including actuation system) | 942 | g |
Actuation | 10 | Dynamixel servos (nine MX-12W, one AX-12A) |
3D printing Technique | FDM | |
Printbed | 20 x 20 | cm |
Print Resolution | 0.025 | mm |
Printing Time | 2 | hrs |
Material for Ligaments | Highly resilient rubber sheets | |
Material for Flexor Tendons | Spectra strings (200 N yield strength) |
To achieve human-like dexterity in robotic hands the biomechanical advantages of the human hand are reinterpreted from a roboticist’s perspective. The hand is constructed of artificial joint capsules, crocheted ligaments and tendons, laser-cut extensor hood, and elastic pulley mechanisms.
The proof-of-concept design has a repeatability in finger motions and can be teleoperated to grasp and manipulate daily objects with a variety of natural hand postures based on hand taxonomy.
The design benefits from several digital manufacturing technologies:
A review of related work and introduces the design motivation. Interprets the important biomechanics of the human hand from an engineering point of view, and then details how this has been translated into the biomimetic design of the robot hand. This includes descriptions of the prototyping process.
Lists related and preceding research projects.
Wevolver 2023