Robotic Hand EPS 2018 mechanic bionic robot

On going Project
ARDUINO CODE is available !

This is the design I reached at the end of a school project in Romania.

Special thanks to Diana Popescu.

Specs:
Human sized robotic hand (sized and designed following measurments on y own hand).

6 degrees of actuation, 2 degrees of actuation for the thumb.

425g

Seperated actuation of each finger.
Possibylity to do rock/aloa/middle finger/closed fist... sign.

It is actuated with 6 servo motors all included in the palm.

BOM :

-6 servos 9g with screws
-elastic strings (1.5m) (any kind)
-textile fishing ropes (1.5m) (any kind at least 1kgF resistant, no nylon !)
-1 3D printer with some material (0.2 mm accuracy)
-1 arduino uno (or nano)
-1 6V power supply (with 2A max, 1A is enough for controlling all the hand, 2A is better for strong grabbing positions)

tools :
1 screw driver
1 pair of cisors
1 driller with 1mm drill

Dowload CAD files to upgrade or STL to print.

Feel free to go further and ple