Here you can find our 3D-printable hand for the PARLOMA (www.parloma.com) project. Developed starting from InMoov project (www.inmoov.fr).

With respect to InMoov's left hand, we add abduction/adduction joints to thumb, index and middle fingers, and redesign the palm. Now flexion/extension DoF is controlled with a tendon (flexion) and a spring (extension) inserted in the finger itself. Moreover, motion transmission has been improved introducing nylon sheaths to reduce friction and to have a greater flexibility in the positioning of the actuators and consequently a greater freedom in the design.

Soon we will add more control code and instruction.

Videos

https://www.youtube.com/watch?v=GS6_jwnSgWA
http://youtu.be/vairRq1zJEU
https://www.youtube.com/watch?v=EJ5-uBt7rHs

Control Software

http://github.com/parloma/parloma_hand

UPDATES

• 09 Mar 2015: files rotation fixed, removed multiple fingers files.

TO DO

• separate left and right from some STL

NON PRINTABLE PARTS

• Servos https://www.adafruit.com/products/155
• Microservos https://www.adafruit.com/products/1143
• Bowden tubes in nylon, different lengths, in diamater 1mm, out diamater 2mm
• springs ????

NOTE

The hand is still in beta phase, CADs may change!
We are working hard to release final version of the hand as soon as possible.

Contributors

• Andrea Bulgarelli, 3Dto
• Ludovico Russo, Politecnico di Torino

Thanks to Raffaele Saggino for helping in fixing files