University of Bristol
SoftHand Model-W
Price
Not disclosed.
Type
Components · Dexterous Hands
Status
Research prototype; sale availability is not reported.
Availability
Not disclosed
Purchase
Not disclosed
Release Date
Unknown
Country/Region
United Kingdom
Last Verified
Unknown
4 active DOF
Active degrees of freedom
5
Finger count
SoftHand Model-W is a 3D-printed anthropomorphic underactuated research hand based on the Pisa/IIT SoftHand. It combines antagonistic finger tendons with a two-degree-of-freedom tendon-driven wrist. Carpal-tunnel-inspired routing places the actuators in the forearm. The paper evaluates disc rotation and cube stacking with and without wrist actuation.
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Hardware Specification
Degrees of freedom and drive
Actuator count
4
Actuator technology
Servo
Frame Material
Mostly FDM-printed PLA; selected parts are SLA-printed resin
Active degrees of freedom
4 active DOF
Materials
PLA, resin, aluminium, PTFE tubing and nylon thread
Transmission mechanism
Tendon-driven
Mechanical and mounting
Depth
4.1 cm
Dimension reference frame
Palm base to middle fingertip
Dimension included components
Hand and fingers; wrist excluded for the stated 15-DOF construction
Height
16.46 cm
Height
5.45 cm
Length
8.16 cm
Mounting interface
UR5 tool-flange adapter at the base
Width
6.93 cm
Mechanical Structure
Actuator Model
Feetech STS3215 servo
Dexterous Hand
3D-printed anthropomorphic underactuated five-finger hand with integrated wrist
Joint Bearing
16 mm OD / 8 mm ID bearings; 8 mm aluminium axles
Joint Motion Range
-30°–30°
Joint Motion Range
-90°–90°
Joint Type
Serial rotational-rotational (RR) wrist
Compute Platform
Software Algorithm
Open-loop proportional wrist controller
Interaction and Communication
Communication
URT-1 controller; USB PC link; serial servo communication
Remote Controller
Feetech URT-1 controller
Commercial Status
Status
Research prototype; sale availability is not reported.
Price
Not disclosed.
Release Date
Unknown
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