3D Printed Biomimetic Mechatronic Hand Explained Part 1

[@Anthromod]

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.

[@WillCogley]

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?

[@Anthromod]

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.

[@WillCogley]

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.

[@GaryMcKinnonUFO]

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 ?

[@casewhite5048]

awesome guys

[@badw01f23]

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

[@the-real-zpero]

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.

[@stainlessdroid3249]

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

[@glennedward2201]

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.

[@Chris_M_Romero]

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

[@littlesnowflakepunk855]

The accuracy of the motion of your hand is mostly down to your brain.

[@rpghood7231]

It makes me feel good as a fellow human, that someone else is also still studying the robotic hand on their own. There is so much capability in one extra hand. You could have a mounted camera hand that could also record sound and pick up stuff.

[@FullStackFool]

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!

[@sofuckingannoying]

Absolutely beautiful and the first design on KZbin 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.

[@maxstafford4007]

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.

[@kpopRC]

Super cool project man! great job!

[@jcjensenllc]

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.

[@bonski59]

This is fantastic. Great job! I'll be eager to see the next update.

[@emberdrops3892]

This is so cool! It has much less useless plastic and more realistic motion than other competitors! :D

[@GaryMcKinnonUFO]

Well designed, i like the cables in place of tendons.

[@fuzzydragoncosplay955]

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

[@PackthatcameBack]

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.

[@artbyrobot1]

there are already free models online of scanned bones

[@JoeBissell]

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

[@douglasthomson2986]

Stellar work Will. Super tricky project to tackle. Love the great exploded animations as well. Good luck with it

[@scaleless8875]

I think this is the most Human like Hand I have ever seen. Good Work.

[@protesisroboticamexicana5296]

Excelent work Mr. Cogley! Beautiful design, and the improvement of lateral rotation on fingers is terrific! Congratulations!!!

[@vladsbengheci3074]

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!

[@WillCogley]

Thanks Vlad, I'm glad you like it. Best of luck with your own designs :)

[@vladsbengheci3074]

@@WillCogley Thank you

[@i-make-robots]

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!

[@denuncimesmo2568]

What a beautiful project, beautiful work, a true artist. I think that the major problem in getting closer to the human hand is the motors, the lack of development of this segment, the development of muscles as muscles and not as engines, I believe that the development of muscles based on magnetic traction based on grouping of mutiltimagnetic cells would be the the development of the most advanced prototypes. but as you said, you are working with the technologies available today, congratulations again.

[@GaryMcKinnonUFO]

Read your comment after making mine, re: magnetics.

[@GaryMcKinnonUFO]

I think small electromagnets would make good muscle replacements but it's just a theory, i've never attempted any robotic development, i'm just in awe of channels like Will's.

[@statorworksrobotics9838]

Excellent. The thing is that magnetic force is fast but relatively weak and some kind of gearing is always necessary. If this could be done at the microscopic level it would be great, to have some kind of solid-state ultra strong and efficient solenoid type of actuators.

[@user-gk5by1uj5r]

I am a korean student.I wanted to artificial leg design a from old times.And when these images come out, my dreams are more motivated.I am very excited now.I hope it will be a day when I can work for disabled people.Good video thanks.I'm sorry if I have the wrong sentence.

[@10p6]

Nice video and great to see someone try and progress technology that could help a whole lot of people.

[@JohnSmith-tr3dj]

Extremely well done

[@MrMauseri]

My gosh! This is very very beautyfull and thought through design. Easily has place in top 5 prosthetic arm design ive seen! U designed it all by urself? Right? IF SO THEN I CANT BUT CONGRATULATE YOU. BRILIANT MIND. I LOVE YOUR SOLUTIONS. I can see few invonveniences, but all will be perfected in time. Great work. Keep it up! Prosthetic designs and 3d printing are very close to heart. Seeing someone accomplishing both this well is great! Good luck. I hope u will accomplish to refine this work to its peak! 👍👍

[@WillCogley]

Thanks, I appreciate your support :)

[@davidortiz3047]

Feeling and being high function is freedom from physical Disability's and limitations not many people really understand that. Extraordinary great job 👋😯

[@3d_idea800]

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.

[@magokeanu]

I really like your work, its inspiring, specially the combination of functionality and good looking parts

[@canerandagio104]

Good evening Will, I wanted to point out that it is precisely the discriminant between convergence and divergence of the metacarpal bones that is the biggest problem in designing and creating an artificial hand. The fact that you have correctly observed what is the natural mobility of the bones of the metacarpal, their semi-independence of movement and the different ability to articulate the last two fingers of the hand. All factors that must be calculated not only for size but also for exact structuring. The more they are similar to human bones, the greater the possibility that the limb responds naturally to its use. Congratulations, a greeting from a cybernetic lover.

[@rayrocher6887]

thanks for helping other people. thanks for the tech. this helps the future. bionics and mechatronics is caring. good work. noble work.

[@eugenew2]

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.

[@nathanielbarry4260]

Hey mate, found your channel today and you have totally blew me away looking forward to content in the future.

[@RoadRunnerMeep]

7:55 impressive level of thought process and detail man.

[@ciarfah]

Love the transitions between CAD and real photos!

[@sentientagent]

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.

[@donjensenep]

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.

[@talatmahmood5787]

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!!!

[@ToddLarsen]

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👍

[@WillCogley]

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 :)

[@civick2052287livecom]

The best hand prosthetic I've seen.

[@jayabratabiswas01]

I appreciate your work, Your way of thinking of a realistic hand is almost same as mine. What my plan is to make the joints and skeleton structure same as human bone and joints are like ball and socket with same degree of freedom. Instead of human muscle and tendon cables will be used. Another thing I think that force /stress and torque of a human hand & fingers can generate Should be same for the robotic hand. Another thing I want to mention is that few years back I saw a video where all the cables at middle of the hand they were using a wooden special shape object to control all types of grips. So in that case my plan is to use lesser number of actuator to complete the project. Definitely what you have done so far is unbelievable work. I am very happy to see your this video. Keep it up Sir. 👍👍

[@mowinckel10]

"I was looking at this fuckoff big stepper motor". I enjoy the language used in the video. Feels very real :)

[@stumcconnel]

This looks amazing, one of the best bionic / robotic hands I've seen. Were the white covers FDM printed? How did you finish them?

[@WillCogley]

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.

[@DaisyAjay]

@@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.

[@WillCogley]

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

[@npc6817]

@@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

[@kelvinchow3663]

I made a model 35 years ago while I was 15 using simular methods. I had the palm, but the scale was much smaller (around 2 inches). I finished the tendors (with difference methods) . However, since we didn't have small servos to pull so many fingers. Eventually I gave up, as I needed to continue my study. I haven't started again as I know we still don't have such small motors nowadays. In addition, the tendor may lossen and need adjustment

[@juri_juraj]

Wow this is great. The company Ottobock(prosthetics) has to give you a call! This is great!

[@Firebat45]

Not to be a downer, but OttoBock already offers a hand very similar to this (but much more compact).

[@kadenzxc]

This is an excellent video! You've done some really high quality work here. I'm thoroughly impressed.

[@parkerbradshaw4122]

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.

[@lucjansosna9179]

7:58 I don't know if you still working on your hand, but simplest way to twist fingers is place, as first, joint to move finger left-right and second to move open-close. On the video you have that joints in other configuration and this is a reason why your finger not twist. I had the same problem on my project

[@Technicallyaddicted]

All my friends: I'm bored let's watch rap. Me: glued to your every word and rewinding if I don't understand. I was going to ask for STL files but about 4 minutes in I realized that even if I had every single piece in front of me, it would take me about a year to successfully complete it. Well done sir. You're a better robotics engineer than I.

[@rgssr.265]

Great quality content with well research I ever found in Bionics. Great work!

[@rishabhlal8750]

Love from india, your videos are very inspiring. Keep us filled with your style😄.

[@chase11119]

A really cool way to do this would be with hydraulics. Have a positive and negative pressure line running into the forearm and then you can have a 4 way reversing valve with a servo to change pressure depending on what you need. Could also have a clamping type thing to shut off pressure once you reach the desired position.

[@mindblown2835]

This work is amazing! Can’t believe I’m just now finding you channel.

[@hlp8043]

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

[@elyt]

I love the design! 🤍 EDIT: I just want to add this. If I'll ever need a cybernetic hand/prosthesis, I would choose your design!

[@Vedrfolfir]

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.

[@c336_]

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

[@multiforc271]

Thank you for sharing this project, I've got inspired for my own project. best of luck

[@andax2007]

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.

[@rupertgarcia]

I just discovered your channel and I automatically subscribed. Glad to have found another YT gem!

[@xorpd]

Nice model! The bike brake cables are also known as "Bowden Cables."

[@jorihuovinen1779]

You should implement camera for item shape recognition. That hand could pickup different shapes..Look nice.

[@l3d-3dmaker58]

PLA is actually one of the strongest materials, although not tough, it has the highest strength of regular materials, unless you go up to some really expensive stuff like ultem or peek, those are insane but expensive af I've learned to love pla, it can be so strong with the correct geometry! btw really liked the video, that hand looks amazing!

[@freddieliang2241]

currently im trying to make a prosthetic finger for a project in school and this video really helped. thx! :)

[@pinkpuff8562]

*In The Next Episode*: Knuckle Cracking Action

[@CJICantLie]

*In The Next Episode* Skynet

[@Jack_Wolfe]

Just to point out actual hands, if this was to be used for a utility function, Hand's "resting position" is mostly closed. For specific reasons, having a hand that is spring closed, would benefit the mechanism when holding things for a long period of time.

[@andrewharbit7449]

2 cables per joint held under the same amount of tension, as the motor is actuated the infinity cable feeds one way as it pulls the other. Mimick the tendions that are in the actual human hand.

[@YOLO-tq3el]

Yooo, THIS SO EFFIN BEAUTIFUL AND WELL MADE!!!!

[@3npitsu992]

Saw one that a senior student made in my school and been amazed since

[@keithking1985]

watching stuff like this you can really see the future opening up.. keep up the good work dude.. really awesome : )

[@tram1839]

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.

[@jeisinga]

Amazing design I am now busy with assembly the inmoov hand but this project looks awsome

[@castro1780]

Maybe the actual anatomical layout of muscles, tendons, bone structures a real hand has may help you achieve the motion you want at around the 7:30 mark? idk if you've looked into that already but I think it'd be worth a shot. looks amazing by the way.

[@krazykillar4794]

You are very good at explaining things ! Well done !

[@Frankthegravelrider]

Just discovered your channel, very cool!!

[@CdoGtheGreat]

This is a very interesting video. Thanks for posting this.

[@matthewp4046]

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?

[@onidaaitsubasa4177]

The metacarpal movements are dependant on the tendons or wires that move the fingers and the muscle on the outside of the hand, correct movements can be achieved by placing springs or elastic bands between the metacarpal in a position that matches those cross metacarpal tendons on the human hand

[@fluorescentblack4336]

This is brilliant mate. Well done!

[@xxportalxx.]

I'm not certain that this will be helpful, however for the finger curling I imagine you could use something along the lines of the turning mechanism in a longboard. I've seen some that use rather wonky looking angled plates, so what I'm imaging here is an angled slide channel in which the finger mech mounts. Additionally I would recommend adding a bit of elasticity to the 'tendons' with either actual elastic cores or spring and slack configs, I've seen this provide torque control and safety functionality with limited complexity on some hand models. Alternatively you could monitor the motor current and attempt to match it to the torque curves of the servos, but that's a touch complex for early prototypes imo. This very well may not be particularly important with the current mock-up, however down the line if you transition to more powerful motors/stronger materials you run the risk of either breaking the hand, the tendon's, or whatever the subject may be holding without proper limiting of some sort. Almost forgot: personally I f***ng hate traditional hobby servos, so I'd also suggest in any final versions upgrading to brushless motors with planetary gear sets and optical encoders, the hobby servos have very little power and typically use potentiometer as encoders which hurt reliability. Planetary gear sets are actually easier to design WITHOUT back-drivability than with, which means you don't need to continuously pump current into your motors to keep the fingers taught. I'd suggest using low profile bldcs, which may even make the lower arm bit more compact. Switching from the brushed motors should also boost efficiency a touch, not bad for something of this sort. Very well done tho, I for one am impressed by the level of artistry you put into it, beyond the engineering it is truly a work of art.

[@TheGreatTimSheridan]

When do you get the two axis points for the base of the thum, that iwill be awesome. Use the hyperextended thumb and then wag it back and forth and press it forward and back. The 3-D printing is very exciting. And amazingly the wrist only moves a few degrees side to side it mostly bends forward and backward a little further up the alarm.

[@Markfps]

Yep, this is an insta-subscribe for me... Keep up the good work, amazing design, very life-like!

[@briansgalaxynote2]

The hand is a wonderful work of art!

[@jstagzsr]

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!

[@jonmat1632]

great job. you should use a brushless outrunner motor for the wrist.

[@GregAtlas]

This makes me curious about how much more compact and quieter this would be with something like the new brushless motors and drive systems that have been introduced in the 3D printing world to replace stepper motors while still retaining positional accuracy.

[@harrywhite7287]

Excellent. Thanks for sharing.

[@solidjames]

Well, this is really inspiring, i love the science, the electricity, robotics, all this kind of things, and besides, i just have 3 fingers on my left hand, i this really inspire me to learn first at all about the 3D printing, and this biometric science

[@amkp40technology]

Good attempt 👌👍👏

[@Death-bb2yu]

It’s special cause you taught me something new 🙂

[@redrain3228]

bro, the more I watch the more I see my technology helping you with your problem your having with measuring

[@interrogatorrupert1130]

I'm half asleep and I accidentally pressed the dislike button-- but thankfully I noticed and promptly removed it and replaced it with a thumbs up. Mate, this is absolutely brilliant. AMAZING work-- the Omnissiah would be pleased. Please keep doing what you're doing, I can't wait for the time when tech like this can be used for real prosthetic limbs and, like you said, connect to nerves to become truly bio-mechanically functioning. Excellent work, dude. Truly. We're all very, very proud of you. Keep up the amazing work!

[@NoMoreBsPlease]

We are so far from a decent mechanical hand, it's heartbreaking. Having lost a hand, I know what a real marvel it is. I think we need to go to a bone and tendon model and work on adapting it to a prosthetic.

[@artbyrobot1]

using motors as a pulley for muscle systems is the same way I'm doing for my robot build. Great minds think alike!

[@artbyrobot1]

in fact I'm building a humanoid robot that will have a human anatomy based skeletal system and artificial ligaments and adanced AI.

[@jkf0ilapse]

Brilliant work!

[@JetCooper3D]

Hi Will. I also was trying to solve the problem of a curved ball grip. My solution was to drive each finger with three cables / channels. The centre to close the finger and two opposing channels to control the splaying and sideways contraction.

[@metronom_81]

impressive and inspirational ,I ll try your finger joints in my project but still lacking of having ecentric control of flexion movement in a more efficent way ....

[@martinpetersson4350]

I'm doing research on hands too! Very interesting, subbed!

[@codyhurley5796]

Take a look at mine i designed on my chanel.