The Humanoid, Anthropometric, Naturally Dextrous Intelligent (HANDi) Hand is an inexpensive, 3D printed multi-articulating hand. It was developed at the BLINC Lab to facilitate machine learning research that aims to provide more intuitive control of prosthetic limbs, since commercially available prostheses are expensive, difficult to modify, and do not allow for sensing capabilities. The hand can be used in conjunction with the Bento Arm, and is expected to be a useful research platform for many studies within the BLINC Lab as well as other research groups.
The hand was designed to be 1:1 scale to anatomical proportions. Six integrated Hitec HS-35HD servos provide individual finger articulation, with separate thumb rotation and flexion. Rotary potentiometers in the joints and force sensitive resistors in the fingertips provide finger position and force information to machine learning agents. Further, a USB webcam is integrated into the palm of the hand, providing visual information about the hand’s workspace. It is hypothesized that a rich information stream about the environmental context of a robotic prosthesis will allow more informed predictions.
Please check out the development page for the Handi Hand.