BRL/Pisa/IIT SoftHand: A Low-cost, 3D-Printed, Underactuated,
Tendon-Driven Hand with Soft and Adaptive Synergies
BRL/Pisa/IIT SoftHand: A Low-cost, 3D-Printed, Underactuated,
Tendon-Driven Hand with Soft and Adaptive Synergies
Show the Structure , Evaluation of BRL/Pisa/IIT SoftHand(BPI SoftHand)
The hand has 15 degrees of freedom and actuated by one Maxon DC motor (347486). It uses 3 different tendons that pass through distinct groups of fingers and the thumb . These three tendons pass through the fingers and palm through U-type groove guiding bearings, and are coupled by the tendon coupling mechanism at the end of the palm.
Phalanges, fingertip design and tendon layout
Size Parameters 200mm X 90mm
Finger Number: 5
15 Degree of Freedoms
Tendon Driven
Actuated by One Maxon DC motor (347486)
Size Parameters 200mm X 90mm
Finger Number: 5
Tendon Driven
Actuated by One Maxon DC motor (347486)
Side and top views of the modular fingertip and middle phalanx, showing the tendon layout (red line), elastic band (blue box) and phalanx connecting rod (purple box)
Three independent tendons pass through the five fingers, grouped into the thumb and index fingers, middle and third fingers, and little (pinky) finger. All tendons are coupled with a coupling mechanism at the base of the palm. The tendon ends pass through distinct channels of the tendon coupling mechanism and are fixed in place by knotting. All tendons are driven by a single actuator.
Project repository: https://github.com/SoutheastWind/BPI-SoftHand
Email: haoran.li@bristol.ac.uk