3D Printed Biomimetic Mechatronic Hand Explained Part 1
ฝัง
- เผยแพร่เมื่อ 17 พ.ค. 2024
- A fairly in-depth analysis of the design and construction of my bionic biomimetic mechatronic hand. I'll be uploading another video soon!
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As my 3rd year project for the University of Hull, I am designing and building a fully 3D-printed and arduino controlled bionic hand. As a "Biomimetic" (closely imitates real-life) mechatronic hand, it has 23 degrees of freedom and uses a physical controller in order to replicate the high degree of precision in a real human hand. - วิทยาศาสตร์และเทคโนโลยี
This is so impressive. As someome who tried to design a hand in cad software, i extremely underestimated how difficult it was. I don't have the skill to make the complex, organic shapes of a hand like you did with the coverings
Will, thank you for posting this. Several hours of researching robotic arms for a costume next year and this is one of the best bits of explanatory material I've found. The fact that you took time to break down your process, successes and failures all, has really helped confirm a lot of the concepts for me (and, ironically, only up the road from myself!)
I wish you luck with the rest of your degree!
I watched this video like 25 times, it's so soft.
the background music and your voice explainign something so interesting for me makes the 20 minutes feels like 5.
I can't wait to see the finished proyect. Congratulations
Absolutely beautiful and the first design on TH-cam which aligns with my own notion of what a mechatronic hand should be. (I'll get to building mine any year now...) I feel compelled to express my admiration for your vision and the love of the art. Build beautiful things, learn from nature, don't build ugly things. Looking forward for more.
This is fantastic. Great job!
I'll be eager to see the next update.
I did a few hands a few years ago (and actually should be working on one now...). What I ended up learning from the experience was that standard robot design approaches, and technologies, are quite limiting. For example hinges with axles through them take up too much space, servos being really awkwardly shaped etc. I think the way to crack it is to combine soft robotic actuators, bones which slide past each other, and elastic and tensile elements. Have you looked at tensegrity inspired models of the body? It helps to see how the body can be broken into different elements beyond the typical rigid elements+hinges approach. A hand that is underactuated but held together with elastic and tensile elements can wrap itself around an object it wants to grasp. Have a look at the hand design by Zhe Xu.
Thanks for your comment, I'm actually really interested in Zhe Xu's designs, and I definitely think the next step for this project is what you're describing. What were you designing hands for if you don't mind me asking?
I made them mostly for robotic purposes as I want to build a whole humanoid robot at some point. There was some interest in prosthetics and I chatted with Openbionics back when they started. I also contributed to what became the Enable hand. Since then life got in the way, but also I've been looking at learning how biology approaches these problems and the pros/cons of biology vs standard engineering. There's a lot of cool research going on in soft robotics and programmable matter which could help us approach the design in a more organic way. There's a lot of ways that biology has made its mechanics optimised for it's role. I mentioned the gripping in the previous message, but there's stuff like passive dynamic walking, which helps explain why humans are much more efficient at walking than a robot like Asimo.
I've had a quick look at your videos, there's some fascinating stuff there particularly with your tensegrity spine, is that something you're still working on? I did this hand as a university project so there was a lot to cram into the year, but after seeing that project by Zhe Xu with the little crocheted joint capsules I've been really interested in that sort of thing. I'd like to be working on a new design now but as you say life is getting in the way haha. Let me know if there's somewhere I can follow your progress on your humanoid robot.
I have no experience in robotics apart from watching other people's work, my experience is mostly in electromagnetics, but i've often thought small electromagnets would be good for muscle/tendon replacements, do you both know of any work done in that area ?
awesome guys
Stellar work Will. Super tricky project to tackle. Love the great exploded animations as well. Good luck with it
This is really impressive, i especially liked how you used springs in the joints to make them open back up. I’ve been working on a hand project off and on for a couple years, and there are things in this design that make me want to change some things on mine. Sadly I’m limited since I’m recreating a design from a movie. I’ll be interested to see how you improve your designs in the future
Mechanical tendons. Seems that is the only real way to accomplish full dexterity. The human hands are quite distinct. Great graduate project. I could see an entire robotic cyborg controlled this way and a central hub in the chest that self calibrates and controls the body functions.
When you start counting how many degrees of freedom we actually have, it gets pretty ridiculous.
It's really awesome to see something as complex as a bio-mimetic a hand being tackled.
Excelent work Mr. Cogley! Beautiful design, and the improvement of lateral rotation on fingers is terrific! Congratulations!!!
Hey mate, found your channel today and you have totally blew me away looking forward to content in the future.
This is an excellent video! You've done some really high quality work here. I'm thoroughly impressed.
Well designed, i like the cables in place of tendons.
This work is amazing! Can’t believe I’m just now finding you channel.
I really like your work, its inspiring, specially the combination of functionality and good looking parts
This makes me value my hand as the incredible piece of engineering that it is. And gives me hope because maybe we can improve it to further complexity and accuracy of motion
The accuracy of the motion of your hand is mostly down to your brain.
I try a lot of things to build my industrial arm. Most of them don't work. I say this to let you know that I appreciate how hard your work is, and I admire your determination. Stay awesome!
Love the transitions between CAD and real photos!
very good iteration of your design, i can almost already see the next one with fewer parts and more optimized due to 3D printing. Keep up the amazing project!
(edit) your mechanical interpretation of the human had is fascinating
Super cool project man! great job!
It's nice to see some one finally see the issue with hand prosthetics and design a hand that more human. You have a bright future. I wish I had the education to work with you dude.
I love the thought process you shared. I drew up an idea like this, but changed to a hydraulic system before I even got enough done with the build to share it. I wish I had 3d printers back then. Oh, use this with a rail guide to move the metacarples laterally.
Extremely well done
Nice video and great to see someone try and progress technology that could help a whole lot of people.
Great work. I have seen bionic hands that work well with only two fingers and a thumb. Simplifies the design, reduces weight, complexity and failure points, simplifies software, reduces cost.
Thank you for sharing this project, I've got inspired for my own project.
best of luck
Great quality content with well research I ever found in Bionics.
Great work!
Mind blowing.
It is obvious that you can produce very impressive results when you commit yourself to a project like this. I'm glad you talked about the iterative process, your mistakes, and how your skills improved over time - that's very relatable.
I see this video is called 'part 1' - are there plans for a part 2?
Great work man!! This is the first time i see soo much work focused on thumb movement and the look is just amazing i will keep going with the movement of the knuckles, because for complex things like writing or grabing small things are really usefull
I've been thinking of this exact thing for years! It's amazing to see someone actually making it real. One idea I had was to (if you had the equipment, anyway) basically make a scan of the bones in your hand and then 3D-print exact replicas in order to better understand just how everything moves together, as I think that would do a lot to help figure it out.
there are already free models online of scanned bones
This is so cool! It has much less useless plastic and more realistic motion than other competitors! :D
Очень круто, огромная работа и по анализу задачи и по проектированию, просто супер! Это лучший проект по возможностям кисти, который я видел. Подписался на канал.
Your work is really inspiring! Thank you!
This is brilliant mate. Well done!
You are very good at explaining things !
Well done !
Hi! Good job on the hand! I did a similar project back in 2014 that was eventually scrapped before motorization, sadly. Instead of bolting everything together, we tried to hold everything together with an elastic mesh. We managed to build a condyloid joint, but I think that the proximalmetacarpal joints (including the thumb) are just hyperboloid joints.
I still have a few kilometers of flexinol in my basement if you're (or anyone's) interested haha.
this is amazing!!!! I just started creating a robotic hand too and you just gave me so many better ideas than what i had.. specifically about the thumb. This a fascinating video and im definitely subscribed now!
This is a very interesting video. Thanks for posting this.
watching stuff like this you can really see the future opening up.. keep up the good work dude.. really awesome : )
I think this is the most Human like Hand I have ever seen. Good Work.
Brilliant work!
7:55 impressive level of thought process and detail man.
The hand is a wonderful work of art!
Just discovered your channel, very cool!!
Stunning work, keep going
that is so amazing!!
Yooo, THIS SO EFFIN BEAUTIFUL AND WELL MADE!!!!
currently im trying to make a prosthetic finger for a project in school and this video really helped. thx! :)
I just discovered your channel and I automatically subscribed. Glad to have found another YT gem!
I hope you've made progress, I'd love to see the final product in action. this could potentially replace other bionic limbs by being stronger with more mechanical parts rather than the electronic ones.
woao :oo Lately I have gotten interested about mechatronics and I've been watching associated videos, and the design of your hand is awesome :oo
Nice work! Have you looked into twisted string actuators for your tendons? Regarding your joints, I printed a hand a few years ago where the joints were ninja flex filament. That worked fairly good.
Incredible...well done.
Excellent. Thanks for sharing.
This is so cool, ty for the inspiration!
Amazing design I am now busy with assembly the inmoov hand but this project looks awsome
thanks for helping other people. thanks for the tech. this helps the future. bionics and mechatronics is caring. good work. noble work.
Excellent work
The best hand prosthetic I've seen.
Great job my friend, a hug from buenos aires, Argentina
Will, one option you may want to explore is sand casting using your 3d printed parts to create aluminum versions of them. This is a very impressive design and you could reinforce those areas by 3d printing then pattern casting them. Lost form casting I believe is the correct term. here is a wiki link en.wikipedia.org/wiki/Pattern_(casting) if you're interested. Excellent job on this gives me hope in the future that there are still bright minds coming up nowadays I have been a mechanical designer going on 20 plus years now and you have a rare talent from my experience. Keep it up and the sky's the limit.
man thats some awesome design ... keep it up bro :)
Very nice design !
Really interesting! It's very neat to look at as well.
Are hydraulics not very practical?
Good renders, and best explanation
you are doing an amazing job
Feeling and being high function is freedom from physical Disability's and limitations not many people really understand that. Extraordinary great job 👋😯
Atounding job. Is a big bio-engineering proyect. Very useful for the next bionic replacement body parts. You worcks in the future. Congrats!
Yep, this is an insta-subscribe for me... Keep up the good work, amazing design, very life-like!
Hi there love the project! Will the 3D files be available to download I would love to try and print this on my printer?
You should implement camera for item shape recognition. That hand could pickup different shapes..Look nice.
Amazing job , great! Thanks a lot! :D
this kind of projects need a open mind guys which you are , keep it up and respect for arduino :)
Really awesome video! Thanks!
Stunning! Thanks.
Amazing!!! Not much more to say but that it’s Amazing!!
It's really cool! Continue plz!
You made a great design.
bro, the more I watch the more I see my technology helping you with your problem your having with measuring
This looks amazing, one of the best bionic / robotic hands I've seen. Were the white covers FDM printed? How did you finish them?
Thanks, I printed the shell parts in ABS on an FDM printer intending to smooth them with acetone but they were too thin, so it's actually hand-polished.
@@WillCogley I recently watched a Tested video with a lass that built armour, she said that diamond dust Dremel bits are really good for polishing 3D printed parts quickly. Might be a timesaver.
I must have missed that one, interesting. I used Dremel sanding drums to start with but they just sort of melted the plastic. Thanks for another tip haha
@@WillCogley dremels can often do that, if you want to use them on plastic you should look for model making rotary tools, its exactly the same but you can set them much more slower than a dremel (or at least the dremels I own).
I had the same exact issue when I started polishing my model cars, I ruined a very beautyful corvette like that
out of all the designs I have seen. even though you do not like having all those parts. this is one of the most in depth and wonderfully designed models for a robotic hand I have come across. great work. remember incorporating 3d printed parts is key not being completely 3d printed unless you are going for non-functional. use them to proof and mold from for a final design but not as the final. even 3d printed metal (sintered) is not as strong as forged/cast, it is still just a rough draft. your design and work though is great, keep it up. if you fiddle a little more with your slicer setting you might also close up some of the small gaps in the parts between the walls (play with extrusion with a little and overlap) should help with model strength even more.
I am very impressed with your work! You inspire me to work at a much higher level.
I wish you had access to a metal printer and smaller stronger motors.
Well done!!!!
I'm your 7k subscriber, I really enjoyed your video your work is awesome.
You should consider using something like a flexible filament for the palm area with maybe strips of spring steel strategically placed to replicate the human palms movement. You also need to be careful to keep the lengths of the cable runs the same length, even if you actuate other things like the wrist. The cables should always be pretty taut. When designing linkages don't think about how the human body does it, you can't really do it that way because muscles are different than motors. Focus on the end resultant movemen. Overall the goal should be for design as simple and stiff as possible while still meeting your goals for realistic movement.
Love from india, your videos are very inspiring. Keep us filled with your style😄.
Pow! Mind blown!
I have been using Fusion 360 and have been 3d printing and designing for almost one month now with zero education in either and watching what your doing is very inspiring to me.
If I keep on the path I'm taking, seeing what can be accomplished I can only imagine what can be done with this technology.
I can't wait to see how your project evolves going forward, it's already so amazing!
Have you looked at tenticals and thought maybe a finger tentical might be something to look into for a simpler design?
Thanks for sharing and as always Keep Building👍
Thanks Todd, I'm really interested in some of those soft robotics designs like the tentacle you mentioned, I'm looking into artificial muscles too. Good luck with your projects :)
I'm doing research on hands too! Very interesting, subbed!
Take a look at mine i designed on my chanel.
Great video, thanks for explaining thoughly all the problems ur facing on this epic project. Which kind of bowden tubes did u use for this? PTFE? And which inside diameters?
Beautiful!
lovely mat just lovely,,,really nice job..
keep the good work mate :)
Love the video
Great work!
I made something similar for my coursework in college and I used a similar approach of using servos and pulleys. But a big difference is my project had minimal set up and was controlled a different way. First of all I utilised the 3D printers ability to build supports, so in between my hinges the 3D printer had built supports and these could be "snapped" so that the hinge was now free to move. So I printed the whole hand except for the palm piece as a single print. The palm piece was printed separately so that I could easily thread the wires through the fingers and then later snap the palm in place. I printed the forearm like this also, so I could snap all of the parts together with no use for screws. I had only a basic open and close motion set up using a Myoware sensor so that when the user tensed their arm it would close the fingers. There were some pretty big issues with the design which I would change if I ever redesigned it along with the aesthetics, like yours looks a lot better than mine. Amazing work by the way, I really like the approach that you have taken. Keep up the good work!!!
Dude! You just rekindle my passion to design artificial hands for the people that don't have one. I want to create something similar to yours, but a little simpler so it is easy to use. I am frustrated on the fact that every hand on the market is limited to a little number of movements so i want to make one that does not feel fake. Unfortunately all of my ideas are only on paper, but i hope that soon i will have the time and resources to create one. Thanks!
Thanks Vlad, I'm glad you like it. Best of luck with your own designs :)
@@WillCogley Thank you
This is amazing mate. Good on ya pal.👍 🙈🙊🙉
Hat off for the incredible amount of effort done.
It would be nice to have a small package 1-wire 2D magnetic sensor like the 14bit ams, to make it easier to built it in each joint and routing the wires.
When each joint can be measured, the servo can be replaced by smaller motors and the "twisting fishing line" force conversion + transmission, which reduce the size of the actuator and making the forearm smaller..
very cool. nice work.
"I was looking at this fuckoff big stepper motor". I enjoy the language used in the video. Feels very real :)
great job. you should use a brushless outrunner motor for the wrist.