Active project / Robot hand

Dexterous humanoid hand prototype.

A modular mechanism program built around tendon routing, measured grasp behavior, serviceable hardware, and documented iteration.

Future project queue

Humanoid robot hand prototype on a dark engineering workbench

Subsystem

Dexterous hand

Focus

Tendon drive

Status

Architecture test

Technical overview

Designed as a measurement platform before it becomes a demo hand.

The hand is treated as an engineering system: each design decision needs a fixture, a tolerance assumption, a calibration path, and a way to observe failures.

Mechanics

Joint geometry, cable routing, replaceable links, and thumb opposition studies.

Electronics

Position capture, fingertip load sensing, tendon tension, and protected wiring paths.

Software

Calibration routines, grip primitives, data logging, and test repeatability.

Gallery

Prototype surfaces and test states.

These slots are structured for future build photos, CAD captures, wiring details, and test-rig footage.

Gallery 01

Tendon path study

Pulley clearance and return routing

Gallery 02

Palm frame concept

Datum features and wire channels

Gallery 03

Force test fixture

Fingertip contact and load capture

Development timeline

Build phases.

Kinematic reference

Define anthropomorphic ranges, joint coupling assumptions, and measurement fixtures.

Single finger testbed

Build one fully instrumented finger to evaluate tendon friction, backlash, and serviceability.

Palm integration

Package four fingers, thumb opposition, wiring, and mechanical datum features into a rigid hand frame.

Control experiments

Run calibration routines, grasp profiles, contact force experiments, and failure-mode logging.

Hardware specifications

Current target architecture.

Values are intentionally presented as project targets where the design is still in motion.

Project state

Prototype architecture

Target degrees of freedom

16 active / 5 coupled

Actuation concept

Remote tendon drive with modular servo cartridges

Primary materials

Machined aluminum, carbon plate, printed test fixtures

Sensor plan

Joint position, fingertip force, tendon tension

Control focus

Repeatable grasp primitives and calibration tooling

Future roadmap

Next engineering work.

Replace printed finger links with machined or composite production-intent parts.

Add fingertip force sensing and tendon tension capture.

Publish repeatable calibration routines with video build logs.

Design a wrist interface and forearm actuator module.