Hardware X journal paper: An Open-source Anthropomorphic Robot Hand System: HRI Hand

This is a firmware developed for HRI hand in TrueSTUDIO for stm32. This repository have been tested under Windows10 1903, 64bit. And the schematic files are edited by Altium designer.
The hardware CAD file are upload in the An Open-source Anthropomorphic Robot Hand System: HRI Hand

Our robot hand system was developed with a focus on the end-effector role of the collaborative robot manipulator.
HRI hand is a research platform that can be built at a lower price (approximately $500, using only 3D printing) than commercial end-effectors.
Moreover, it was designed as a two four-bar linkage for the under-actuated mechanism and provides pre-shaping motion similar to the human hand prior to touching an object.

The proposed robot hand imitated the human hand, the four fingers, excluding the thumb, consist of distal interphalangeal(DIP), proximal interphalangeal(PIP), metacarpophalangeal(MCP) joints.
The thumb part consists of interphalangeal(IP), metacarpophalangeal(MCP), Carpometacarpal(CMC) joint, and operates MCP and CMC joint with two motors.
The motor is controlled based on the control signal received by the Micro-Controller unit (MCU) via Bluetooth communication.

Author: Hyeonjun Park, [email protected]

Affiliation: Human-Robot Interaction LAB, Kyung Hee Unviersity, South Korea

• Installed the TrueSTUDIO for stm32
• Installed the STM32CubeMX

• Initialize

  

• The grasp performance with UR3 manipulator, click image to the YouTube video.

  

• The pick & place test with UR3 manipulator, click image to the YouTube video.