OPEN HAND MODEL T42

Introduction

The creation of the Open Hand Project Model T42 involves the use of all open source files provided by the Grab Lab from Yale University. The unique ideas about the Open Hand Models are it allow researchers to construct the hand using easily accessible materials, allows easy customizing via CAD files, and they are inexpensive compared to most robotic hands. Our goal is to construct the Open Hand Model by following all documentation provided by the Grab Lab from Yale University. In addition to recreating Model-T42, we will be implementing Takk Tile Sensor onto the finger pads in hopes of creating an identical model that Yale University and Harvard intended to. In the process, we will get a durable hand in the Robotics Lab for multipurpose, as well as make suggestions to improve the Open Hand model along with the Takk Tile Sensors

Latest Update

We have extended our wires to about 24 inches from the power source to the hand allowing us for more flexibility in movements and grasp positions. Arduino Code are being studied so we can customize to our needs if necessary. Learning safety usage of tools and setting up hardware/software for Takk Tile Sensor data retrieval without out putting it on finger pads. We also plan on using the same list of materials in order for us to familiarize with the sensor outputs. While testing Takk Tile sensors, run trails of grasp to observe what are the major contact points of the finger pads with objects. This will help us in deciding where is the best place to place the sensors. After documenting where is best to implement sensors we will start extreme careful observation and data collecting with Takk Tile Sensors on model T42. To Learn more about Takk Tile Sensors please visit Takk Tile Sensors

Takk Tile Sensors

" What use is a hand without nerves? When the sensors are put on mechanical hands, robots know what it's touching, it can pick up a balloon without popping it. It can pick up keys to unlock doors." - Harvard Biorobotics Lab

Takk Tile Offical Website (Harvard)
Engadget: Robot with tactile sensor is better at identifying materials than you are
Takk Tile sensors implemented on IRobot Hand, gets smashed by Baseball Bat
Discovery News: Robots' Crushing grip Turned to Delicate Touch
Popular Science: New Tactile Sensor Is Lighter Than A Feather

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Total Spending of the project: $674.14

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Daily log: Click here to see day-to-day progress.

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UPDATED Instructions on how to run Dynamixel Servos using ROS
- Please download the file lib_robotis_mod.py.txt OR copy text to Notepad (or something similar to it) then save it in a easily referable location ( such as the download folder) .
- Please download the file move_both_finger.py.txt
- Then follow the instructions on Instructions_for_running_move_both_finger.pdf: .
- NOTE! ROS should be programmed using Linux operating system and using Terminal (Ctrl + Alt + t ) .

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1st. Version Instructions on how to run Dynamixel Servos using ROS (Robot Operating System)
- Please download the file lib_robotis_mod.py.txt OR copy text to Notepad (or something similar to it) then save it in a easily referable location ( such as the download folder) .
- Then follow the instructions on Running_Servos.pdf: .
- NOTE! ROS should be programmed using Linux operating system and using Terminal (Ctrl + Alt + t ) .

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Instructions on how to place an order on 3-D printing can be found on this link How to Order 3-D parts .

LaurieWu - 2013-06-12