Overview

​​As the perspective of technology tends to make human life easier and safer a vital contribution still remains in the field of upper limb prosthetics. In view of these aspects the students at IVLabs developed an 6DOF robotic hand as a cost-efficient replacement to existing Prosthetic hands yet retaining the functionality of human hand.

Working Principle

Each finger has a individual motor to be allowed to move independently replicating HUMAN HAND.The fingers are under-actuated with their Actuation driven by high torque mini servo actuators through tendons as non-linear parameters.The thumb also has roll motion at its base as 6th degree of freedom for the system.TSOP1738 receivers are simple proximity sensors that triggers on receiving an infrared wave transmitted with suitable luminous intensity.Both Transmitters and receivers are placed at fingertips and as an object is sensed closer than 1.5 cm the actuators get triggered,hence the number of fingers to be used for gripping are decided without using EEG/EMG techniques.

Mechanical Design
Designing and Modelling of system parameters like fingers and base palm were done in Solidworks. Performance of hand was evaluated based on the simulations for each fingers. Based on these aspects experiments and iterations were performed and design was finalized. The complete hand structure was fabricated using 3D printing using PET plastic material.

Electronic Controls

The sub-controller circuit is based on the ARM CORTEX M4-32 bit processor acting as an link between the sensors and actuators. Inclusive of the power circuitary for sensors,actuators and output Leds. Also the protection circuit from external SMPS power supply.

Features

ROBUST BUILD
 The material used is light weight having good strength with a stable mechanical structure.
COST EFFICIENT
Manufacturing of complex mechanical design made easy using 3D printing and thus lower in cost.
CUSTOMISABLE DESIGN                    ​
OBJECT ORIENTED GRIPPING TASKS   ​
Customisable design made using interchangeable parts.
Power grasp, Column grasp, Tripod grasp, Precision closed grasp, Precision open grasp, Hook grasp, Trigger grasp, Pinch relaxed hand.
VIRTUAL VISION                ​
Complex EEG, EMG features are provided through the proximity vision sensors at the fingertips.

Tech Specs

WEIGHT   
DIMENSIONS
ACTUATOR   
DEGREES OF FREEDOM      
 400 grams
26cm x 11cm x 5.8cm
HS82MG mini servo torque 3.4kgcm @ 6V
6 DOF
PROCESSOR    ​
ARM-CORTEX TIVA C series TM4C123GH6PM microcontroller 
Code composer studio
SENSORS
TSOP 1738 Infrared receiver
Infrared transmitter (940 nm wavelength)
​FABRICATION    
Done by Cost eficient 3D printing

Media

GRASPING ABILITIES

PRECISION CLOSED
COLUMN GRASP
TRIPOD GRASP
POWER GRASP