X-Limb - A Lightweight Soft Robotic Prosthetic Hand
Published at : 03 Nov 2021
We have developed an open-source 3D printed soft robotic prosthetic hand with multi-functional capability addressing the gap between existing designs and the practical requirements.
More details are provided in the following open-access paper in PLoS ONE:
https://journals.plos.org/plosone/article?id=10.1371/journal.pone.0232766
The open-source files are available in the following GitHub repository:
https://github.com/MelbourneUniHRL/X-Limb
Main characteristics of the X-Limb design:
- Overall weight: 253gr
- Grasp types: Three grasps types (power, pinch, and tripod) with capability of individual finger movement
- Grip force: Power grasp force of 21.5N and pinch grasp force of 10.2N
- Hand closing/opening speed: 1.3sec
- Cost: Bill of material cost of 200 USD (excluding quick disconnect wrist but without factoring in the cost reduction through mass production).
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