UH1

UH1 is the final design resulting from the UNIQUE-HAND project. It is a underactuated hand with 14 degrees of freedom and 4 motors. It incoporates an underactuated mechanism (UHURings) for the coordinated flexión of middle, ring and little fingers, actuated by a motor, another dedicated motor for the flexion of the index finger and two motos for the motion of the thumb. 

The hand includes pressure sensors in the distal phalanges of the fingers and thumb and is controlled by a PCB including an ESP32 microcontroller and a CAN communication protocol for robotic and prosthetic application.