u/qualitygui

Evaluating some hand grip patterns following the https://www.eng.yale.edu/grablab/pubs/Feix_THMS2016.pdf paper. I didn't do all of them because I'm lazy and some of them are pretty similar. But I'm confident my hand can achieve all of them EXCEPT the disks grips and the inferior pinch since I lack independent intermediate phalanx actuation.

I chose some random objects I could find lying around that fit each grip type to see how well the hand could actually hold real household items. Overall, I think it was quite successful, what do you think?

Well, what good is designing a hand if it can't actually do anything, so here's a couple actions (all in real time) I was able to achieve with my hand & wrist combo! Surprising just how many more poses and gestures having a wrist allows for vs just a hand.

Design wise, not much has changed since my last post, aside from a few tolerance and material improvements. Instead, I've been putting it through its paces, making sure it can work decently accurately, reliably, and safely. Maybe v21 a little bit later...