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RH5D & RH7D

Human-inspired, Child-size Robot Hand

 
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Human-inspired

The RH5D features 14 degrees of freedom, including opposable thumb.

The RH7D features 16 degress of freedom, including opposable thumb and a full spherical wrist joint, for an even closer behavior to the human hand.

Additionally, 3-segment, fingers are independently controlled by smart actuators.

The under actuated design aims to provide the right balance between fine user-control and conformance to the shape of the objects.

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Dexterity

Depending on your needs, the model can be assembled optimized for Payload manipulation (“RH5D”) or for Human Robot Interface research (“RH7D”)

RH5D: for Payload manipulation up to 350g

14 Degrees of freedom, 5 actuators:

  • Wrist Rotation

  • Thumb adduction and Thumb flexion

  • Index finger flexion

  • Middle finger and little finger combined actuation

RH7D: for Human Robot Interface research

16 Degrees of freedom, 7 actuators:

  • The same dexterity as the RH5D

  • Plus Wrist Adduction and Wrist flexion (full spherical wrist joint), closer resembling a Human hand

The RH7D resembles the RH8D Adult Hand in practically all aspects of Dexterity, with the exception of the little finger, which is absent in this model, due to dimensional constraints.

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Sensing

The advanced EROS control board and smart actuators provide real-time, high-frequency - up to 120Hz - feedback of (data available from all actuated joints):

  • position

  • speed

  • temperature

  • PWM output (with direction)

  • High resolution current measurement.

A Palm TOF distance sensor detects the proximity and presence of objects.

By combining the available data users can infer additional information such as the estimation of force.

Capacitive pads may be optionally installed at the back of the hand for richer H.R.I. experiences.

Control

  • Open source ROS package

  • Python (PyPot)

  • Low level Serial Protocol (UART)

Logic Interfaces

  • UART over RS485
    (or Full or Half duplex TTL - compatible with Robotis systems)

  • USB interface: for Configuration and Maintenance

  • Optional Bluetooth: online maintenance and diagnostics.

Performance & Payload

Due to the compact form factor, a compromise was necessary, resulting in the two assembly variants: RH5D and RH7D

RH5D: for Payload applications

  • Payload (Vertical pull): 600g

  • Payload (3D space): 350g

  • Weight: 285g
    (all actuators are contained inside the unit)

RH7D: for Human Robot Interface research

  • Payload: Not applicable
    (optimized for H.R.I.)

  • Weight: 325g
    (all actuators are contained inside the unit)

Technical Data

  • Supply Voltage: 9V to 24V

  • Embedded processor: 32bit Arm Cortex M4
    Dedicated co-processor for each smart actuator

ISO 9409-1-50 mounting adapter available (fits most robot arms)
Custom adapters can also be produced on customer’s request.