Humanoid Robotic Hand
A five fingered robotic hand, printed and assembled from the open source DexHand design, then wired to a camera so it copies whatever my own hand does.
The build
I started from the open source DexHand project, printed the 3D models of the hand and forearm, and assembled the whole thing with servo actuators driving the tendons. Printing and assembling it myself meant working through the tolerances, the routing and the mounting rather than inheriting someone else's finished object.
The control layer
On top of the mechanics I integrated my own computer vision algorithm. A camera watches a human hand, tracks the joint positions frame by frame, and maps them onto the servo angles of the robotic hand. The result is direct teleoperation with no gloves or markers:
The camera checks your hand movement and the robotic hand imitates the user's moves.
What it is for
This is deliberately a foundation rather than a finished product. A dexterous hand with a working perception loop is the base you need for grasping research, teleoperated demonstration data, and manipulation on a full humanoid platform. It exists so the harder projects have something to attach to.
- Mechanics printed and assembled in house, so parts can be revised quickly.
- Servo driven actuation on each finger.
- Markerless tracking from a standard camera, no special hardware needed.
- Open source base, so the work stays useful to the wider robotics community.