D'Manus

The D'Manus is a 10 DoF, low-cost, reliable prehensile hand. It is fully 3D printable, and features integrated large-area ReSkin sensing.

Hardware
Simulation

Schematics

Features


  1. Reliable Actuators: The D'Manus is actuated at joint level using Dynamixel XM430-210 motors. We have run the D'Manus for over 10,000 hours of operational time amongst various versions of the platform over the course of 12 months in 3 different locations with a total of 5 breakages

  2. Large-Area Tactile Sensing: ReSkin sensors are integrated with the fingertips and the palm. Each fingertip sensor is comprised of 8 magnetometers while the palm sensor consists of 32 magnetometers for a total of 56 magnetometers.

  3. Simulated Backend: A MuJoCo-based simulation of the D'Manus is also made available for fast prototyping and debugging.

  4. Open-Source Design: Hardware design as well as build instructions are open-sourced and available online for everybody to build their own D'Manus. Detailed assembly instructions can be found on the Assembly page

Gallery

Team

Raunaq Bhirangi, Abigail DeFranco, Jacob Adkins, Sidney Nimako, Devank Thawre, Carmel Majidi, Abhinav Gupta, Tess Hellebrekers, Vikash Kumar