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Hand Exoskeleton

A low-cost 6DoF hand exoskeleton using linkage and tendon mechanisms, controlled by an ESP32 and seven SC09 bus servos.

  • Robot arm
  • Open source
  • arduino
  • 3D printable

Suggested by Robotheca, created by @MengyangGao (opens in a new tab), from github.com/MengyangGao/hand_exoskeleton (opens in a new tab). Pinned to commit a5d6a1d (opens in a new tab).

Fork on GitHub (opens in a new tab)Download the files at this commit (.zip)
Hardware license
MIT (opens in a new tab)
Software license
MIT (opens in a new tab)
Commercial use
Allowed

Photo and 3D model

Hand Exoskeleton, photo from its repository
Photo:@MengyangGao (opens in a new tab)MITsource file (opens in a new tab)

3D preview converted from github.com/MengyangGao/hand_exoskeleton at a5d6a1d, under MIT. View the original files from GitHub (7.8 MB) (opens in a new tab)

Degrees of freedom
6
Weight
400 g
Height
310 mm

What it can do

Written by Robotheca from the project's documents.

  • 6-degree-of-freedom hand exoskeleton movement
  • Controlled via Wi-Fi web interface
  • Supports Bluetooth, Wi-Fi and ESP-NOW communication
  • Predefined hand gestures like open, close and rock-paper-scissors
  • Single-servo control via serial commands
  • Multi-servo synchronized movement
  • Adjustable movement speed

Bill of materials

This repository has no parts list Robotheca can read yet.

Build guide

The creator's steps, each with its instructions.

  1. 1Download and prepare repository files
  2. 23D print mechanical parts
  3. 3Assemble mechanical structure
  4. 4Configure ESP32 Arduino development environment
  5. 5Upload software to ESP32
  6. 6Set servo IDs via web interface
  7. 7Calibrate mechanical zero positions
  8. 8Test and operate

The guide appears here as you scroll.

Guide by @MengyangGao (README.md), under MIT. The English translation is by Robotheca, shared under the same license.

Wiring and electronics

Notes written by Robotheca from the project's documents.

Main parts

  • ESP32 microcontroller
  • 7 SC09 serial bus servos
  • Servo Driver with ESP32 expansion board
  • 8 M3 eyelet bearings
  • 0.8 mm steel wire for tendon drive
  • 5.5×2.1 mm DC power input
  • Type-C programming port

Connections

  • SC09 servos connected in serial bus to ESP32 expansion board
  • Servo power and signal lines shared on bus
  • Steel wire routed through linkage for thumb tendon drive
  • ESP32 expansion board powered at 6–12 V DC