underactuated-hands

This repo provides an open-source design for a three-finger underactuated robotic hand. The design is low-cost and readily reproducible using off-the-shelf components and 3D printing. Software is provided so that researchers can easily control the robotic hand, as well as get real-time sensory feedback.

CAD model can be downloaded from here.

Quickstart: Robotic Hand Teleoperation

1. Upload underactuated_teleoperated_control_daisychain.ino to the Teensy
2. Run roslaunch hand_arduino hand.launch to enable joy_node and ros/arduino communication
3. Run 'rosrun hand_arduino hand_teleop.py' to enable controlling the robotic hand via a gamepad controller