Dexterous Anthropomorphic Sensor-Driven Hybrid-Actuation (DASH) Hand | Seelio
Skip to Main Content

The design focused on a hybrid approach of combining intrinsic and extrinsic actuators while maintaining the biomimetic dimensions of the human hand. The DASH hand has 16 degrees of freedom including three abduction motors located inside the palm. Each finger has spring steel that acts as the return force for all the tendon-driven actuators in the forearm. Robust positional feedback at the actuated joints was achieved with bend sensors in each finger mid-section to add another level of joint accuracy for closed loop feedback. All of this is controlled by a microcontroller located in the palm. This hybrid actuation robotic hand offers a versatile and low cost solution that is attractive for applications requiring dexterous manipulation. The use of off the shelf servo motors, microcontrollers and 3D printing technology allows the DASH hand to accomplish high DOF manipulation at a an order of magnitude lower price compared to the products currently on the market.

  • Full Range of motion showing flexion of the fingers in a fist, abduction of fingers in for a wide grip, and the neutral position.
    ×
  • Third generation robotic humanoid hand with 16 degrees of freedom and human anatomy.
    ×
  • Second prototype of the new finger design. Manufactured with a Connex 260v 3D printer. Joint lengths are within human dimensions.
    ×
  • Third iteration of finger design. Finalized for each of the fingers.
    ×
  • First palm prototype. Test fit of the motors.
    ×
  • Second palm design. Test fit of third motor for abduction of the thumb.
    ×
  • Wrist design first prototype. Final model was made of stainless steel. Novel approach to solve the buckling problem of inline u-joint.
    ×
  • Finalized model with thumb attached.
    ×
  • Comparison to human hand.
    ×
  • Human dimension comparison
    ×
  • Design iteration of Ujoint. Final printed it stainless steel infused with bronze.
    ×
  • Finger ujoints with spring steel and bend sensors
    ×
  • Human hand comparison. Cad vs actual model.
    ×

805 views

Collaborators

  • Michael Stevens

    Michael Stevens / Designer

    Virginia Polytechnic Institute and State University
    Full CAD model and conceptual design. Chose each motors, materials and accessories based on specifications and iterated each until the final design was functional.

Categories

Mechanical Engineering

Last Updated At