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Effector library

Tendon-driven five-finger hand, 16 joints

A buildable anthropomorphic hand: printed bones, silicone skin, tendons pulled by servos in the forearm.

Multi-finger handNativeEntrantMIT, CC-BY-4.0

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Facts

Kind
Multi-finger hand
Class
Open hardware (buildable)
Capabilities
  • pinchholds a part between two opposed tips or pads
  • powerwraps several fingers around a part
Mount
Its own forearm tower; an arm adapter is not published.ISO pattern: none (own interface)

Specifications

SpecValueBasisSource
Joints16 (wrist joint removed)Derivedderived from the files or the model

Simulation

Status
NativeNative simulation model
Model source
Upstream MJCF (includes flattened).
Fidelity
Rigid model
Model
16 actuators · 1764 g
Note
The hardware licence grants no patent or trademark rights (stated upstream).
Tournament
Entrant2 entrant specs in the effector tournament.

Compile and attach gate

Each entrant spec is built in the tournament's shared scene on every training part. One nominal episode per built part (no placement error, seed 0) is information, not part of the gate.

Tendon-driven five-finger hand, 16 joints, power grasp

GATE PASSED
Primitive
power
Actuators
16
Mass
1764 g
Reach
152.5 mm
Opening
n/a
Training partGateHeld (nominal)Nominal outcomePenetrationWhy refused
BlockbuiltnoMissed grasp0.02 mm
Steel slugbuiltnoMissed grasp0.02 mm
Hex standoffbuiltnoMissed grasp0.00 mm
L-bracketbuiltnoMissed grasp0.00 mm
Pipe teebuiltnoMissed grasp0.00 mm
Flanged bushingbuiltnoMissed grasp0.00 mm

Held on no training part in the nominal episode.

Tendon-driven five-finger hand, 16 joints, pinch

GATE PASSED
Primitive
pinch
Actuators
16
Mass
1764 g
Reach
152.5 mm
Opening
n/a
Training partGateHeld (nominal)Nominal outcomePenetrationWhy refused
BlockbuiltnoPushed away on close0.02 mm
Steel slugbuiltnoPushed away on close0.12 mm
Hex standoffbuiltnoMissed grasp0.07 mm
L-bracketbuiltnoMissed grasp0.02 mm
Pipe teebuiltnoMissed grasp0.05 mm
Flanged bushingbuiltnoPushed away on close0.10 mm

Held on no training part in the nominal episode.

Licence

Licence rating: green. Full attribution: see the credits page.

Files

FileTypeSizeLicenceChanged
hand-5f-tendon-16dof.xmlassets/effectors/library/hand-5f-tendon-16dof/sim/hand-5f-tendon-16dof.xmlSimulation file (derived)22.4 kBMITmodified
right_ForeArmStructure-Model.objassets/effectors/library/hand-5f-tendon-16dof/sim/meshes/right_ForeArmStructure-Model.objSimulation file (derived)10.2 kBMITmodified
right_I-AP-R.objassets/effectors/library/hand-5f-tendon-16dof/sim/meshes/right_I-AP-R.objSimulation file (derived)162.1 kBMITmodified
right_I-IP_IP.objassets/effectors/library/hand-5f-tendon-16dof/sim/meshes/right_I-IP_IP.objSimulation file (derived)55.9 kBMITmodified
right_I-PP_PP.objassets/effectors/library/hand-5f-tendon-16dof/sim/meshes/right_I-PP_PP.objSimulation file (derived)76.3 kBMITmodified
right_M-AP.objassets/effectors/library/hand-5f-tendon-16dof/sim/meshes/right_M-AP.objSimulation file (derived)153.6 kBMITmodified
right_M-IP_IP.objassets/effectors/library/hand-5f-tendon-16dof/sim/meshes/right_M-IP_IP.objSimulation file (derived)56.3 kBMITmodified
right_M-PP_PP.objassets/effectors/library/hand-5f-tendon-16dof/sim/meshes/right_M-PP_PP.objSimulation file (derived)74.5 kBMITmodified
right_P-AP.objassets/effectors/library/hand-5f-tendon-16dof/sim/meshes/right_P-AP.objSimulation file (derived)140.8 kBMITmodified
right_P-IP_IP.objassets/effectors/library/hand-5f-tendon-16dof/sim/meshes/right_P-IP_IP.objSimulation file (derived)73.0 kBMITmodified
right_P-PP_PP.objassets/effectors/library/hand-5f-tendon-16dof/sim/meshes/right_P-PP_PP.objSimulation file (derived)85.6 kBMITmodified
right_R-Carpals.objassets/effectors/library/hand-5f-tendon-16dof/sim/meshes/right_R-Carpals.objSimulation file (derived)99.3 kBMITmodified
right_R-T-AP.objassets/effectors/library/hand-5f-tendon-16dof/sim/meshes/right_R-T-AP.objSimulation file (derived)138.2 kBMITmodified
right_T-DP_T-DP.objassets/effectors/library/hand-5f-tendon-16dof/sim/meshes/right_T-DP_T-DP.objSimulation file (derived)73.0 kBMITmodified
right_T-PP_PP.objassets/effectors/library/hand-5f-tendon-16dof/sim/meshes/right_T-PP_PP.objSimulation file (derived)87.0 kBMITmodified
right_T-TP-R.objassets/effectors/library/hand-5f-tendon-16dof/sim/meshes/right_T-TP-R.objSimulation file (derived)98.6 kBMITmodified
right_TopTower-Model.objassets/effectors/library/hand-5f-tendon-16dof/sim/meshes/right_TopTower-Model.objSimulation file (derived)134.7 kBMITmodified

Each file links to its copy in the repository. Licence texts sit next to them in LICENSES/. What changed is on the credits page.

Upstream

Linked, not mirrored

What, and whySizeLink
Hand print file in the hardware repository: linked, not mirrored.n/aPinned file