Abstract
An anthropomorphic hand, manufacturable by 3D printing, usable both as a robotic end effector and as an active prosthetic hand (Rebelia V1, continued as Yeah Hand). Five rotary actuators are housed inside a single internal skeleton of the hand. Each finger is moved by a flexion tendon and an extension tendon fixed to the same spool on one actuator and wound in opposite directions, so one actuator actively both closes and opens the finger. Tendons are routed through holes in the printed phalanges and anchored by self-tightening wraps. Ring and little fingers share one actuator through a crimped clamp and a sliding tendon loop, giving an adaptive differential closure. The thumb base is mounted directly on the output flange of a thumb rotation actuator. Servo position and load feedback are used for automatic tendon calibration at start-up and for grasps that close each finger until a load limit is reached. Grasp presets map a single 0-100% closure command to different finger trajectories. In the prosthetic version, two surface EMG sensors are processed by FFT and compared with two intensity thresholds to open, close or hold the hand; the grasp can be selected by rotating the unpowered thumb by hand. First published on GitHub on 3 March 2025 (https://github.com/opsobot/rebelia), OSHWA certified IT000021, archived on Zenodo (DOI 10.5281/zenodo.23394100).
Creative Commons License
This work is licensed under a Creative Commons Attribution 4.0 License.
Recommended Citation
Lumare, Vittorio, "Tendon-driven anthropomorphic hand with actuators housed in the hand skeleton, single-spool antagonistic tendons, load-based adaptive grasping and two-channel EMG control, for robotic and prosthetic use", Technical Disclosure Commons, ()
https://www.tdcommons.org/dpubs_series/12266