D'Manus

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