Unique Presentation Identifier:
P65
Program Type
Honors
Faculty Advisor
Dr. Zahra Zamanipour, Dr. Mohammad Amjadi
Document Type
Poster
Location
Face-to-face
Start Date
29-4-2025 3:00 PM
Abstract
This work presents the design, implementation, and validation of a 3D-printed tendon-driven robotic hand with a bi-directional wireless control system. The robotic hand emulates human anatomical principles, focusing on replicating flexion and extension mechanisms of the metacarpophalangeal (MCP), proximal interphalangeal (PIP), and distal interphalangeal (DIP) joints via a tendon-pulley system. Iterative prototyping resolved initial challenges in joint stiffness, tendon routing, and servo interference, culminating in a design where a single servo drives both flexion and extension for each joint using a bidirectional tendon control mechanism. A reliable bidirectional wireless communication framework, using Arduino Nano Every microcontrollers and NRF24L01 modules, enables real-time servo position feedback between a glove-mounted transceiver and the robotic hand. To ensure durability and optimize mechanical performance, three different grades of polymers were investigated. Specimens were designed, 3D-printed, annealed, and tested under controlled conditions to ensure repeatability and validity. Static tension tests were conducted at different strain rates to assess rate-dependent mechanical behavior, while fatigue testing provided critical insights into long-term durability. The resulting material data inform stress and durability analyses of the 3D-printed components. The system’s functionality is validated through the Southampton Hand Assessment Procedure (SHAP), demonstrating compliance with human-like grip patterns. Preliminary research explores future haptic feedback via Transcutaneous Electrical Nerve Stimulation (TENS) to enable tactile sensation. This work advances anthropomorphic robotic hand design by addressing critical challenges in biomimetic actuation, robust tendon management, and low-latency wireless control, with applications in prosthetics and human-robot interaction.
Recommended Citation
Giese, Zachary; Gober, Joseph; Grisham, Samuel; Mahan, Avery; White, Aspen; May, Brayden; and White, Aspen, "Design of a TeleoperableTendon-Driven Robotic Hand" (2025). ATU Student Research Symposium. 16.
https://orc.library.atu.edu/atu_rs/2025/2025/16
Included in
Biological Engineering Commons, Digital Communications and Networking Commons, Mechanics of Materials Commons, Robotics Commons
Design of a TeleoperableTendon-Driven Robotic Hand
Face-to-face
This work presents the design, implementation, and validation of a 3D-printed tendon-driven robotic hand with a bi-directional wireless control system. The robotic hand emulates human anatomical principles, focusing on replicating flexion and extension mechanisms of the metacarpophalangeal (MCP), proximal interphalangeal (PIP), and distal interphalangeal (DIP) joints via a tendon-pulley system. Iterative prototyping resolved initial challenges in joint stiffness, tendon routing, and servo interference, culminating in a design where a single servo drives both flexion and extension for each joint using a bidirectional tendon control mechanism. A reliable bidirectional wireless communication framework, using Arduino Nano Every microcontrollers and NRF24L01 modules, enables real-time servo position feedback between a glove-mounted transceiver and the robotic hand. To ensure durability and optimize mechanical performance, three different grades of polymers were investigated. Specimens were designed, 3D-printed, annealed, and tested under controlled conditions to ensure repeatability and validity. Static tension tests were conducted at different strain rates to assess rate-dependent mechanical behavior, while fatigue testing provided critical insights into long-term durability. The resulting material data inform stress and durability analyses of the 3D-printed components. The system’s functionality is validated through the Southampton Hand Assessment Procedure (SHAP), demonstrating compliance with human-like grip patterns. Preliminary research explores future haptic feedback via Transcutaneous Electrical Nerve Stimulation (TENS) to enable tactile sensation. This work advances anthropomorphic robotic hand design by addressing critical challenges in biomimetic actuation, robust tendon management, and low-latency wireless control, with applications in prosthetics and human-robot interaction.