openbionics / prosthetic-hands

Affordable (< 200$), light-weight (< 300 gr), anthropomorphic prosthetic hands, using a novel selectively-lockable differential mechanism

OpenBionics - Prosthetic Hands

Nowadays most prosthetic hands cost dozens of thousands of USD. The OpenBionics initiative (www.openbionics.org) presents a new open-source design for highly functional prosthetic hands. The proposed hands cost less than 200$, weigh less than 300 gr and can be easily fabricated with off-the-shelf materials and rapid prototyping techniques (3D Printing).

A novel differential mechanism (based on the whiffletree) allows the user to block the motion of each finger independently and facilitates the execution of 144 different grasps with only 1 actuator. The design is based on parametric models of hand anthropometry studies, so it can easily be personalized to specific patients.

Contents

In this repository you can find:

• Detailed assembly guide for the replication of OpenBionics prosthetic hand
• Parametric CAD files for personalized design
  • 2D CAD design files for laser cutter
  • 3D CAD design files for 3D printer
• Breakout board
• Prosthetic hand kinematics in MATLAB using robotics toolbox
• Arduino software for HerkuleX DRS-0201 servo motor operation
• Archive of various images

Notes

Please open a GitHub issue if you encounter any problem.

prosthetic-hands's Issues

Components to build the prosthetic hands

Hi!

I am looking for the components to buy (I am in France now).

I would have some questions:

1. Is this list updated?
2. About the Prosthetic board. I don't have experience with PCB. Is it possible to buy it somewhere? Otherwise, could you give me some tips to build it?
3. About the Surface electromyography sensing kit: is the new MyoWare Muscle Sensor working ? or is it necessary to buy the old version?
4. Are this Arduino micro and this motor ok?

Thank you very much in advance!

Add new servo motor

Herkulex DRS-0201 has been replaced by Dynamixel RX-28.

• CAD files update
• Software update including ROS implementation

Replace figures for prosthetic fingers in assembly guide

Figures from OpenBionics robot hands assembly guide have been used. Despite the similar structure, prosthetic fingers have some differences in fingers-palm attachment.

Incorporate servo attachment in assembly guide

Includes CAD files updating w/ new servo position underneath the hand base.