Tendra Hand
GitHub

Photos and videos

Gallery

The hand as it takes shape: printed parts, tendons, electronics and the first moves.

Photos and screenshots from the build so far. More will follow as the prototype comes together.

  • The whole thumb and index prototype from above, from fingertips to the motor column and its cables.
    The whole V0 prototype: fingers, palm, tendons and the motor column.
  • The blue index finger and thumb of the prototype seen from a three-quarter angle.
    The current prototype: a thumb and an index finger with 8 joints.
  • The forearm column with stepper motors and blue tendon spools, with the fingers on top.
    One motor and one spool per joint: each tendon loop bends the joint one way and straightens it the other.
  • The thumb and index finger prototype seen from above, with the motor column and tendon spools below the palm.
    The V0 prototype from above: fingers on the palm, motors and spools below.
  • The ESP32-S3 on a breadboard, wired to the ULN2003 stepper driver boards.
    The electronics: one ESP32-S3 and a driver board for each of the 8 motors.
  • Close-up of the ESP32-S3 board on a breadboard with jumper wires on both sides.
    The ESP32-S3 controller, the brain of the prototype.
  • A box of blue 3D-printed finger segments, white tubing and bags of small bearings.
    Every part of the skeleton comes off an ordinary 3D printer.
  • The white 3D-printed palm frame of the V0 prototype on a wooden table.
    The printed palm frame, before assembly.
  • Webcam teleop: a hand making the 'I love you' sign, and the simulated hand making the same sign.
    Each finger follows on its own: the simulated hand copies an 'I love you' sign.
  • Webcam teleop: an open, spread hand on the left, copied by the simulated five-finger hand on the right.
    Open your hand in front of the webcam and the simulated hand opens too.