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I built an open-source hand exoskeleton. What would you do with it?
This is TAKTO ONE, a tendon-driven hand exoskeleton I built for my master’s thesis. Each of the 12 finger joints has its own magnetic encoder, and the twin in the headset moves from those sensors and two IMUs, not from camera tracking, so a hidden finger still gets measured.
Hey!! Amazing project!
Just a quick question: How did you designed and calculated the link lengths and their dynamics load capacity. I too want to study these things, can you suggest me some as starting point?
And then regarding the Dynamic loads I did static FEA for the geometry with a predicted load and then multiple design iterations to get the shape and sliding correctly, also used two types of plastic for each prismatic pair meaning, PETG for the part that sees the most load and PLA to get accurate dimensions on the cylinder.
This seems interesting. Thanks for your detailed insights into this. I am planning to make 3d printing 5 dof arm. I needed a starting point. This was helpful.
cool project! a little easter egg you may not be aware of: in Polish the name sounds like
"Tak, to one" -> "Yes, that['s] them (feminine plural)", where "hands" or "prosthetics" will be feminine plural too :)
What a nice play on words! I originally chose it because it carries the meaning of “touch” across Spanish, German, and English, but I like this Polish Easter egg!
Yes it's open for improvements and the BOM is available on the repo. Most of the cost is due to the dynamixel motors, if you want to just build the motion capture it could be under 100 USD per Unit!
We should get rid of the Dynamixel motors there is a global shortage of them due to Pollen Robotics. I have coincidentally made a PCB that would work with this at very low cost.
The thesis deadline was approaching, and the thumb seemed like quite a time consuming task if I wanted to achieve the same level of quality as with the other four fingers
Very cool. Good to see more work being done on hand exoskeletons. What are the main things you consider when choosing the actuator? I’m especially interested in what matters most for a hand exoskeleton‘s actuator. I work at CubeMars and this kind of feedback helps us figure out where we should focus our development next.
Nice to see project differen from 'I 3d-printed robotic manipulator'. Btw, I thought exeskeletons is something that should increase power of the hand or relieve pressure handling heavy things
I wanted to develop a human machine interface with read and write capabilities into the human hand, which allows for lots of interesting applications like teleoperation, haptics, data capture, enhanced AR/VR and rehabilitation
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u/TheRealFanger 18h ago
Let me borrow this for five minutes.