Mechanics
Joint geometry, cable routing, replaceable links, and thumb opposition studies.
Active project
Robot Hand
A biomimetic robotic hand platform focused on human-like dexterity, tendon-driven actuation, and reactive real-time control. Using custom mechanical systems, ESP32-based embedded electronics, and computer vision hand tracking, the system is being developed to read, interpret, and live-mimic human hand movements with realistic robotic motion and manipulation.
Current phase: Architecture test
Mechanical
N20 Motor Tendon Driven
Version
V1.1.23
Status
Initial Assembly
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.
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.
01
Kinematic reference
Define anthropomorphic ranges, joint coupling assumptions, and measurement fixtures.
02
Single finger testbed
Build one fully instrumented finger to evaluate tendon friction, backlash, and serviceability.
03
Palm integration
Package four fingers, thumb opposition, wiring, and mechanical datum features into a rigid hand frame.
04
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.
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.