Robotic hand - working prosthesis

thingiverse

This is a robotic prosthetic hand which uses micro servos for finger movement. This prosthesis was designed for a patient who lost the right hand. Surgery spared part of the wrist, so "standard" prosthetics could not be used. The external shape is adapted from the open source F.A.B.L.E. and InMoov hands; the internal components have been completely redrawn. Fingers are fully articulated with the exception of the thumb, which is mono-articulated for improved grip strength. The electronics use Arduino Nano and NRF24L01 WiFi transmitter in order to receive input from a flex-sensor glove, which is available at https://www.thingiverse.com/thing:3779666 . We decided to avoid myo-electric input commands since they have need for signal amplification. Instead, we designed a sensor glove for the left hand to "clone" its movements. Videos of the hand "in action" are available at the following addresses: Movement: https://youtu.be/9lCXrkcVzPw Tendons: https://youtu.be/tw_zP7BXp7E Writing: https://youtu.be/Fz-MuXwgLbw Grabbing a round object: https://youtu.be/AQXdd-NVf8E Grabbing an heavy object: https://youtu.be/TT7kAvTvNJQ Using the phone: https://youtu.be/0eBjgeCwozA Remote control: https://youtu.be/8eH8Bw6Lkv4 On the field: https://youtu.be/TUoOgagwnh8 Print everything in ABS. The forearm parts are available in 2 sizes. Electronics require just 5 micro servos, Arduino Nano and NRF24L01 connection, a >500 mF capacitor and a cell phone power bank (better if capable of > 2A). The full story of the realization of the hand, detailed building instructions, and the patient’s case, are reported in a book (in Italian), which is available at http://www.sanditlibri.it/ or https://www.amazon.it/dp/8869283291/ .