‭Innovative Product Development-III Report‬

‭On‬
‭Biomimetic Robotic Hand‬

‭SUBMITTED BY‬
‭Name‬ ‭SAP ID‬
‭Dhruv Panchal‬ ‭60002210042‬
‭Darshan Markar‬ ‭60002210045‬
‭Shreedhar Barot‬ ‭60002210043‬

‭Under the guidance of‬

‭Dr. Venkata A P Chavali‬

‭DEPARTMENT OF‬
‭ELECTRONICS AND TELECOMMUNICATION ENGINEERING‬
‭Academic Year: 2023-2024‬

‭Shri Vile Parle Kelavani Mandal’s‬

‭Dwarkadas J. Sanghvi College of Engineering‬

‭Plot no. U-15, JVPD Scheme, Bhaktivedanta Swami Marg,‬
‭Vile Parle (W), Mumbai – 400 056‬
 ‭Department of Electronics and Telecommunication Engineering‬

‭This is to certify that‬

‭“‬‭Biomimetic Robotic Hand‬‭”‬

‭Submitted by:‬

‭ hruv Panchal – 60002210042‬

D
‭Darshan Markar – 60002210045‬
‭Shreedhar Barot – 60002210043‬

‭ tudents‬ ‭of‬ ‭Electronics‬ ‭and‬ ‭Telecommunication‬ ‭Engineering‬ ‭have‬ ‭successfully‬ ‭completed‬

S
‭their‬ ‭Innovative‬ ‭Product‬ ‭Development‬‭-III‬ ‭required‬ ‭for‬ ‭the‬ ‭fulfillment‬ ‭of‬ ‭SEM‬ ‭V‬ ‭during‬ ‭the‬ ‭first‬
‭half of the year 2023. The project report has been assessed and found to be satisfactory.‬

‭Head of Department‬ ‭Principal‬

‭Internal Examiner‬ ‭External Examiner‬

 ‭Table of Contents‬ ‭Page No‬‭.‬

‭CERTIFICATE…‬

‭I)‬ ‭ABSTRACT……………………………………………………………….1‬

‭II)‬ ‭INTRODUCTION………………………………………………………....1‬

‭III)‬ ‭LITERATURE REVIEW……………………………………………….….1‬

‭IV)‬ ‭THEORY…………………………………………………………………...2‬
‭i)‬ ‭Working Principle………………………………………….…...3‬
‭ii)‬ ‭Block Diagram………………………………………………….4‬
‭iii) Schematic diagram……………………………………………...5‬

‭V)‬ ‭RESULT………………………………………………………………….…5‬

‭VI)‬ ‭FUTURE SCOPE…………………………………………………………...5‬

‭VII)‬ ‭BUDGET SHEET…………………………………………………………..6‬

‭VIII)‬ ‭APPLICATIONS.…………………………………………………………...7‬

‭IX)‬ ‭REFERENCES…………………………………………………………...…7‬
‭ABSTRACT‬‭:-‬

‭ he‬ ‭interest‬ ‭in‬ ‭research‬ ‭and‬ ‭development‬ ‭of‬ ‭the‬ ‭humanoid‬ ‭hand‬ ‭is‬ ‭steadily‬ ‭growing‬ ‭in‬ ‭recent‬
T
‭years.‬ ‭Humanoid‬ ‭robots‬ ‭can‬ ‭perform‬ ‭repetitive‬ ‭tasks‬ ‭with‬ ‭high‬ ‭precision‬ ‭and‬ ‭consistency‬ ‭in‬
‭environments‬ ‭that‬ ‭may‬ ‭be‬ ‭hazardous‬ ‭or‬ ‭unsafe‬ ‭for‬ ‭humans.‬ ‭They‬‭are‬‭also‬‭employed‬‭in‬‭various‬
‭applications,‬ ‭including‬ ‭industrial‬ ‭automation,‬ ‭prosthetics,‬ ‭medical‬ ‭surgery,‬ ‭and‬ ‭space‬
‭exploration.The‬ ‭aim‬‭is‬‭to‬‭investigate‬‭how‬‭well‬‭the‬‭robotic‬‭hand‬‭could‬‭imitate‬‭the‬‭movements‬‭of‬‭a‬
‭user-worn‬ ‭controller‬ ‭glove‬ ‭as‬ ‭well‬ ‭as‬ ‭grip‬ ‭objects,‬ ‭both‬ ‭through‬ ‭wireless‬ ‭communication.‬ ‭The‬
‭innovative mechanism allows a single motor to coordinate various combinations across all fingers.‬

‭INTRODUCTION‬‭:-‬

‭ he‬ ‭main‬ ‭aim‬ ‭of‬ ‭this‬ ‭project‬‭is‬‭to‬‭build‬‭a‬‭robotic‬‭hand‬‭that‬‭can‬‭perform‬‭all‬‭the‬‭possible‬‭gestures‬

T
‭and‬‭can‬‭lift‬‭the‬‭objects‬‭with‬‭high‬‭holding‬‭torque.In‬‭a‬‭world‬‭where‬‭technological‬‭advancements‬‭are‬
‭often‬ ‭associated‬ ‭with‬ ‭high‬ ‭costs,‬ ‭this‬ ‭project‬ ‭have‬ ‭made‬ ‭a‬ ‭significant‬ ‭step‬ ‭towards‬ ‭making‬ ‭a‬
‭positive‬‭impact‬‭on‬‭the‬‭lives‬‭of‬‭individuals‬‭with‬‭physical‬‭disabilities.‬‭The‬‭development‬‭of‬‭a‬‭low-cost‬
‭robotic‬ ‭hand‬ ‭capable‬‭of‬‭executing‬‭a‬‭wide‬‭range‬‭of‬‭gestures‬‭offers‬‭newfound‬‭hope‬‭for‬‭those‬‭who‬
‭cannot‬ ‭afford‬‭traditional‬‭prosthetic‬‭solutions.‬‭This‬‭project‬‭not‬‭only‬‭addresses‬‭financial‬‭constraints‬
‭but also aims to provide a solution that promotes independence.‬
‭The‬ ‭precise‬ ‭control‬ ‭of‬ ‭finger‬ ‭movements‬ ‭in‬ ‭a‬ ‭robotic‬ ‭hand‬ ‭is‬ ‭achieved‬ ‭through‬‭the‬‭utilization‬‭of‬
‭microcontrollers‬ ‭such‬ ‭as‬ ‭the‬ ‭Arduino‬‭Uno‬‭and‬‭Raspberry‬‭Pi‬‭Pico.‬‭These‬‭microcontrollers‬‭handle‬
‭the‬ ‭communication‬ ‭between‬ ‭flex‬ ‭sensors‬ ‭and‬ ‭motors.‬ ‭Flex‬ ‭sensors,‬ ‭calibrated‬‭to‬‭detect‬‭varying‬
‭degrees‬ ‭of‬ ‭finger‬ ‭flexion,‬ ‭relay‬ ‭this‬ ‭data‬ ‭to‬ ‭the‬ ‭microcontroller,‬ ‭enabling‬ ‭them‬ ‭to‬ ‭interpret‬ ‭and‬
‭translate‬‭these‬‭movements‬‭into‬‭specific‬‭commands.‬‭Integrated‬‭with‬‭NEMA‬‭and‬‭servo‬‭motors,‬‭the‬
‭microcontrollers‬‭execute‬‭precise‬‭instructions,‬‭finely‬‭tuning‬‭the‬‭angles‬‭and‬‭positions‬‭of‬‭each‬‭finger‬
‭to‬‭get‬‭the‬‭desired‬‭gestures‬‭accurately.‬‭This‬‭harmonized‬‭interplay‬‭of‬‭flex‬‭sensors,‬‭microcontrollers,‬
‭and‬ ‭motors‬ ‭facilitates‬ ‭the‬ ‭seamless‬ ‭replication‬ ‭of‬ ‭human-like‬ ‭hand‬ ‭gestures‬ ‭within‬ ‭the‬ ‭robotic‬
‭hand.‬

‭LITERATURE REVIEW‬‭:-‬

I‭n‬ ‭recent‬ ‭years,the‬ ‭interest‬ ‭in‬ ‭robotic‬ ‭hand‬ ‭research‬ ‭and‬ ‭development‬ ‭has‬ ‭been‬ ‭fueled‬‭by‬‭their‬
‭ability‬ ‭to‬ ‭execute‬ ‭meticulous‬ ‭tasks‬ ‭in‬ ‭hazardous‬ ‭environments,‬ ‭marking‬ ‭a‬ ‭significant‬ ‭stride‬ ‭in‬
‭robotics.The‬ ‭investigation‬ ‭at‬ ‭hand‬ ‭aims‬ ‭to‬ ‭improve‬ ‭the‬ ‭robotic‬ ‭hand's‬ ‭capacity‬ ‭to‬ ‭emulate‬ ‭both‬
‭user-worn‬ ‭controller‬ ‭glove‬‭movements‬‭and‬‭object‬‭gripping,‬‭facilitated‬‭by‬‭wireless‬‭communication‬
‭protocols.The‬ ‭evolution‬ ‭of‬ ‭robotic‬ ‭hand‬ ‭technology‬ ‭has‬ ‭witnessed‬ ‭a‬ ‭paradigm‬ ‭shift‬ ‭from‬
‭mechanically‬ ‭complex‬ ‭and‬ ‭cost-prohibitive‬ ‭systems‬ ‭towards‬ ‭more‬ ‭accessible‬ ‭and‬ ‭versatile‬
‭designs.‬‭Earlier‬‭it‬‭primarily‬‭relied‬‭on‬‭intricate‬‭mechanical‬‭structures,‬‭limiting‬‭affordability‬‭and‬‭ease‬
‭of‬ ‭use.Accessibility‬ ‭remains‬ ‭a‬ ‭focal‬ ‭point‬ ‭in‬ ‭the‬ ‭development‬ ‭of‬ ‭robotic‬ ‭hands.‬ ‭Traditional‬
‭prosthetic‬ ‭solutions‬ ‭often‬ ‭come‬ ‭with‬ ‭substantial‬ ‭financial‬ ‭barriers,‬ ‭limiting‬ ‭their‬ ‭availability‬ ‭to‬ ‭a‬
‭1‬
 ‭ roader‬ ‭demographic.‬ ‭The‬ ‭emergence‬ ‭of‬ ‭low-cost‬ ‭robotic‬ ‭hands‬ ‭capable‬ ‭of‬ ‭executing‬ ‭a‬ ‭wide‬
b
‭range‬‭of‬‭gestures‬‭presents‬‭a‬‭promising‬‭alternative‬‭for‬‭individuals‬‭who‬‭cannot‬‭afford‬‭conventional‬
‭prosthetics.‬‭By‬‭integrating‬‭affordable‬‭technologies,this‬‭solution‬‭aims‬‭to‬‭enhance‬‭accessibility‬‭and‬
‭empower individuals in performing daily tasks.‬
‭Theory‬‭:-‬

‭1. WORKING PRINCIPLE‬‭-‬

‭ he‬ ‭two‬ ‭main‬ ‭components‬ ‭in‬ ‭this‬ ‭project‬ ‭are‬ ‭Arduino‬
T
‭UNO‬‭and‬‭Raspberry‬‭Pi‬‭Pico.‬‭Arduino‬‭UNO‬‭collects‬‭data‬
‭from‬ ‭the‬ ‭flex‬ ‭sensor‬ ‭which‬ ‭measures‬ ‭the‬ ‭amount‬ ‭of‬
‭deflection‬ ‭or‬ ‭bending‬ ‭of‬ ‭the‬ ‭human‬ ‭finger.‬ ‭As‬ ‭finger‬
‭bends,‬‭the‬‭resistance‬‭of‬‭the‬‭flex‬‭sensor‬‭increases‬‭which‬
‭is‬‭calibrated‬‭to‬‭the‬‭angular‬‭value‬‭of‬‭the‬‭finger.‬‭The‬‭data‬
‭collected‬ ‭is‬ ‭transmitted‬ ‭to‬‭Raspberry‬‭Pi‬‭Pico‬‭through‬‭a‬
‭transceiver.‬
‭In‬‭a‬‭robotic‬‭hand,‬‭3‬‭gears‬‭are‬‭used‬‭-‬‭internal‬‭spur‬‭gear,‬
‭external‬ ‭spur‬ ‭gear‬ ‭and‬ ‭control‬ ‭spur‬ ‭gear‬ ‭which‬ ‭are‬
‭responsible‬ ‭for‬ ‭11‬‭controlling‬ ‭fingers‬ ‭of‬ ‭the‬ ‭robotic‬
‭hand.The‬ ‭arrangement‬ ‭of‬ ‭internal‬ ‭spur‬ ‭gears‬ ‭is‬ ‭set‬‭by‬
‭the‬ ‭NEMA‬ ‭motor‬ ‭as‬ ‭per‬ ‭the‬ ‭data‬ ‭received‬ ‭by‬ ‭the‬
‭Raspberry Pi Pico.‬
‭There‬‭are‬‭5‬‭internal‬‭spur‬‭gears.‬‭There‬‭are‬‭a‬‭total‬‭of‬‭18‬
‭teeths‬ ‭on‬ ‭this‬ ‭gear‬ ‭which‬ ‭defines‬ ‭that‬ ‭there‬ ‭are‬ ‭18‬
‭possible‬ ‭combinations‬ ‭of‬ ‭the‬ ‭finger‬ ‭movements.‬ ‭Each‬
‭gear‬ ‭is‬ ‭responsible‬ ‭for‬ ‭the‬ ‭movement‬ ‭of‬ ‭individual‬
‭fingers,‬ ‭Based‬ ‭on‬ ‭the‬ ‭presence‬ ‭of‬ ‭teeths‬ ‭at‬ ‭the‬
‭predefined arrangement of the gear determined by‬

‭2‬
 ‭ i‬ ‭Pico.‬ ‭Five‬ ‭external‬ ‭spur‬ ‭gears‬ ‭are‬ ‭manipulated‬ ‭for‬ ‭horizontal‬
P
‭motion‬ ‭by‬ ‭a‬‭servo‬‭motor‬‭using‬‭a‬‭thread,‬‭to‬‭detect‬‭the‬‭position‬‭of‬
‭the‬‭internal‬‭spur‬‭gear‬‭using‬‭a‬‭bit‬‭holder‬‭embedded‬‭in‬‭the‬‭external‬
‭spur‬‭gear.The‬‭external‬‭gear‬‭is‬‭used‬‭to‬‭control‬‭fingers‬‭through‬‭the‬
‭NEMA motor.‬
‭The‬ ‭gears‬ ‭are‬ ‭usually‬ ‭at‬ ‭rest‬ ‭state‬ ‭where‬ ‭the‬ ‭gear‬ ‭is‬
‭disconnected‬‭from‬‭the‬‭internal‬‭spur‬‭gear‬‭using‬‭a‬‭continuous‬‭force‬
‭exerted‬‭by‬‭elastic‬‭thread.‬‭As‬‭the‬‭arrangement‬‭of‬‭internal‬‭gears‬‭is‬
‭formed,‬‭the‬‭servo‬‭motor‬‭moves‬‭external‬‭gear‬‭horizontally‬‭towards‬
‭internal‬ ‭gears.‬ ‭To‬ ‭detect‬ ‭the‬ ‭teeth‬ ‭arrangement‬ ‭of‬ ‭internal‬ ‭gear‬
‭using‬ ‭a‬ ‭bit‬ ‭holder,it‬ ‭gives‬ ‭access‬ ‭to‬ ‭control‬ ‭certain‬ ‭fingers‬ ‭that‬
‭depend‬ ‭on‬ ‭arrangement‬ ‭of‬ ‭gears,‬ ‭as‬ ‭the‬ ‭expected‬ ‭gesture‬ ‭of‬
‭hand‬ ‭is‬ ‭formed,‬ ‭external‬ ‭gear‬ ‭set‬ ‭back‬ ‭to‬ ‭its‬ ‭rest‬ ‭state‬‭.‬‭If‬ ‭the‬
‭teeths‬ ‭in‬ ‭the‬‭arrangement‬‭of‬‭the‬‭internal‬‭spur‬‭gear‬‭isn't‬‭detected‬
‭by‬ ‭the‬ ‭bit‬ ‭holder,‬ ‭then‬ ‭the‬ ‭external‬ ‭spur‬ ‭gear‬ ‭would‬ ‭be‬ ‭unable‬ ‭to‬ ‭control‬ ‭the‬ ‭fingers‬
‭through‬ ‭control‬ ‭spur‬ ‭gear.‬ ‭To‬ ‭avoid‬‭over‬‭rotation‬‭of‬‭fingers‬‭a‬‭potentiometer‬‭is‬‭connected‬
‭with NEMA motor’s shaft to get the angular value of the fingers.‬

‭Calculations‬‭:-‬

‭Parameters‬ ‭Values‬

‭Total teeths on external gear‬ ‭29‬

‭Total teeths on control gear‬ ‭21‬

‭Total teeths on internal gear‬ ‭18‬

‭Average speed of NEMA 17‬ ‭300 RPM‬

‭Torque of NEMA 17 motor‬ ‭4.2Kg/cm‬

‭ iameter‬ ‭of‬ ‭Thread‬ ‭winding‬ ‭8mm‬

D
‭cone‬

‭Diameter of Control Gear‬ ‭30mm‬

‭Diameter of Internal Gear‬ ‭22mm‬

‭Diameter of External Gear‬ ‭40mm‬

‭Diameter‬‭ratio‬‭of‬‭Control‬‭Gear‬‭to‬ ‭3.75:1‬
t‭hread Winding Gear‬

‭3‬
 ‭𝑆𝑝𝑒𝑒𝑑‬‭‬‭𝑜𝑓‬‭‬‭𝑚𝑜𝑡𝑜𝑟‬‭× ‬ ‭‭𝑛
‬ 𝑜‬.‭‭𝑜
‬ 𝑓‬‭‭𝑡‬ 𝑒𝑒𝑡ℎ‬‭‭𝑜
‬ 𝑓‬‭‭𝑑
‬ 𝑟𝑖𝑣𝑒‬‭‬‭𝑔𝑒𝑎𝑟‬ ‭300‬×‭29‬
‭●‬ ‭Total speed of the Control Gear=‬ ‭𝑛𝑜‬.‭‭𝑜
‬ 𝑓‬‭‭𝑡‬ 𝑒𝑒𝑡ℎ‬‭‭𝑜
‬ 𝑓‬‭‭𝑑‬ 𝑟𝑖𝑣𝑒𝑛‬‭‭𝑔 ‬ 𝑒𝑎𝑟‬
‭=‬ ‭21‬ = ‭414‬. ‭28‬‭‬‭𝑟𝑝𝑚‬‭.‬
‭𝑛𝑜‬.‭‭𝑜
‬ 𝑓‬‭‭𝑡‬ 𝑒𝑒𝑡ℎ‬‭‭𝑜
‬ 𝑓‬‭‬‭𝑑𝑟𝑖𝑣𝑒𝑛‬‭‬‭𝑔𝑒𝑎𝑟‬
‭●‬ ‭Total torque of the Control Gear=‬‭𝑇𝑜𝑟𝑞𝑢𝑒‬‭‬‭𝑜𝑓‬‭‬‭𝑚𝑜𝑡𝑜𝑟‬ × ‭𝑛𝑜‬.‭‭𝑜‬ 𝑓‬‭‭𝑡‬ 𝑒𝑒𝑡ℎ‬‭‭𝑜‬ 𝑓‬‭‬‭𝑑𝑟𝑖𝑣𝑒‬‭‭𝑔‬ 𝑒𝑎𝑟‬
‭21‬
= ‭4‬. ‭2‬ × ‭29‬ = ‭3.‬ ‭041‬‭𝑘𝑔‬‭/‬‭𝑐𝑚‬
‭●‬ ‭The total holding torque:‬
‭𝑛𝑜‬.‭‬‭𝑜𝑓‬‭‭𝑡‬ 𝑒𝑒𝑡ℎ‬‭‬‭𝑜𝑓‬‭‭𝑑
‬ 𝑟𝑖𝑣𝑒‬‭‬‭𝑔𝑒𝑎𝑟‬
‭=‬‭𝐷𝑖𝑎𝑚𝑒𝑡𝑒𝑟‬‭‬‭𝑟𝑎𝑡𝑖𝑜‬‭‬‭𝑜𝑓‬‭‬‭𝐶𝑜𝑛𝑡𝑟𝑜𝑙‬‭‬‭𝐺𝑒𝑎𝑟‬‭‬‭𝑡𝑜‬‭‬‭𝑡ℎ𝑟𝑒𝑎𝑑‬‭‬‭𝑊𝑖𝑛𝑑𝑖𝑛𝑔‬‭‬‭𝐺𝑒𝑎𝑟‬ × ‭ 𝑜‬.‭𝑜𝑓‬‭‭𝑡‬ 𝑒𝑒𝑡ℎ‬‭‬‭𝑜𝑓‬‭‭𝑑
𝑛 ‬ 𝑟𝑖𝑣𝑒𝑛‬‭‬‭𝑔𝑒𝑎𝑟‬
‭ 3.75x(29/21)=5.17kg/cm‬
=
‭ ‬ ‭With‬ ‭a‬ ‭consistent‬ ‭pitch‬ ‭diameter‬ ‭of‬ ‭1.5mm‬ ‭across‬ ‭all‬ ‭gears,‬ ‭they‬ ‭seamlessly‬ ‭engage‬
●
‭without any risk of slipping, ensuring smooth operation.‬

‭Block‬‭Diagram‬‭:-‬

‭4‬
‭Schematic Diagram‬‭:-‬

‭Result‬‭:-‬

‭ he‬ ‭project‬ ‭focuses‬ ‭on‬ ‭the‬ ‭use‬ ‭of‬ ‭mechatronics‬ ‭and‬ ‭how‬ ‭it‬ ‭can‬ ‭be‬ ‭made‬ ‭more‬ ‭technologically‬
T
‭useful.‬ ‭All‬ ‭the‬ ‭finger‬ ‭movements‬ ‭and‬ ‭gestures‬‭are‬‭achieved‬‭with‬‭the‬‭help‬‭of‬‭one‬‭Stepper‬‭motor.‬
‭The‬‭advantages‬‭of‬‭this‬‭robotic‬‭hand‬‭is‬‭that‬‭it‬‭is‬‭cost‬‭efficient,‬‭one‬‭motor‬‭is‬‭used‬‭to‬‭control‬‭all‬‭the‬
‭five fingers whereas usually one motor is required for each finger movement.‬
‭The CAD 3D model is successfully completed.‬

‭Future scope‬‭:-‬

‭ he‬ ‭future‬ ‭outlook‬ ‭for‬ ‭robotic‬ ‭hands‬ ‭equipped‬ ‭with‬ ‭five‬ ‭fingers‬ ‭is‬ ‭highly‬ ‭promising,‬ ‭spanning‬ ‭a‬
T
‭spectrum‬‭of‬‭industries‬‭including‬‭robotics,‬‭healthcare,‬‭manufacturing,‬‭and‬‭prosthetics.‬‭In‬‭the‬‭realm‬
‭of‬ ‭advanced‬ ‭robotics‬ ‭and‬ ‭automation,‬ ‭these‬ ‭hands‬ ‭demonstrate‬ ‭the‬ ‭potential‬ ‭to‬ ‭revolutionize‬
‭manufacturing‬ ‭processes‬ ‭with‬ ‭enhanced‬ ‭precision‬ ‭and‬ ‭flexibility.‬ ‭Moreover,‬ ‭their‬ ‭integration‬ ‭into‬
‭prosthetic‬‭limbs‬‭holds‬‭the‬‭promise‬‭of‬‭providing‬‭features‬‭with‬‭a‬‭more‬‭natural‬‭and‬‭functional‬‭range‬
‭of‬ ‭motion.‬ ‭In‬ ‭medical‬ ‭applications,‬ ‭robotic‬ ‭hands‬ ‭are‬ ‭poised‬ ‭to‬ ‭assist‬ ‭surgeons‬ ‭in‬ ‭minimally‬
‭invasive surgeries and contribute to rehabilitation efforts by facilitating the recovery of fine motor‬
‭5‬
 ‭ kills.‬ ‭Human-robot‬ ‭interaction‬ ‭stands‬ ‭to‬ ‭benefit‬ ‭as‬ ‭well,‬ ‭with‬ ‭applications‬ ‭in‬ ‭assistive‬ ‭devices,‬
s
‭humanoid‬ ‭robots,‬ ‭and‬ ‭teleoperation‬ ‭systems‬ ‭for‬ ‭hazardous‬‭environments.‬‭The‬‭fusion‬‭of‬‭artificial‬
‭intelligence‬ ‭with‬ ‭robotic‬ ‭hands‬ ‭allows‬ ‭for‬ ‭adaptability‬ ‭and‬ ‭learning,‬ ‭while‬ ‭their‬ ‭potential‬ ‭use‬ ‭in‬
‭education,‬ ‭research,‬ ‭and‬ ‭entertainment‬ ‭further‬ ‭underscores‬ ‭their‬ ‭versatile‬ ‭future.‬ ‭As‬‭technology‬
‭continues‬ ‭to‬ ‭advance,‬ ‭these‬ ‭robotic‬ ‭hands‬ ‭are‬ ‭anticipated‬ ‭to‬ ‭play‬ ‭an‬ ‭increasingly‬ ‭pivotal‬ ‭role‬
‭across‬ ‭diverse‬ ‭domains,‬ ‭offering‬ ‭innovative‬ ‭solutions‬ ‭and‬ ‭expanding‬ ‭the‬ ‭boundaries‬ ‭of‬ ‭what‬ ‭is‬
‭achievable in human-machine interaction.‬

‭Budget Sheet‬‭:-‬

‭ r.n‬ ‭Component‬
S ‭Price‬ ‭Total Price‬
‭o.‬ ‭Quantity‬
‭1.‬ ‭Raspberry Pi Pico‬ ‭1‬ ‭Rs.400‬ ‭Rs.400‬

‭2.‬ ‭MG90S Servo motor‬ ‭1‬ ‭Rs.252‬ ‭Rs.652‬

‭3.‬ ‭Voltage level shifter‬ ‭1‬ ‭Rs.20‬ ‭Rs.672‬

‭4.‬ ‭NEMA 17 motor‬ ‭1‬ ‭Rs.550‬ ‭Rs.1222‬

‭5.‬ ‭A4988 driver‬ ‭1‬ ‭Rs.80‬ ‭Rs.1302‬

‭6.‬ ‭12V Li-ion battery‬ ‭1‬ ‭Rs.450‬ ‭Rs.1752‬

‭7.‬ ‭Potentiometer module‬ ‭1‬ ‭Rs.120‬ ‭Rs.1872‬

‭8.‬ ‭PLA filament‬ ‭1‬ ‭Rs.800‬ ‭Rs.2672‬

‭9.‬ ‭DC-DC Buck Converter‬ ‭2‬ ‭Rs.51‬ ‭Rs.2723‬

‭10.‬ ‭ RF24L01‬
N ‭2‬ ‭Rs.136‬ ‭Rs.2859‬
‭Transceiver‬
‭11.‬ ‭3D Printing Cost‬ ‭1‬ ‭Rs.500‬ ‭Rs.3359‬

‭Total Cost:- Rs.3359‬

‭6‬
‭Applications‬‭:-‬

‭ ‬ ‭robotic‬ ‭hand‬ ‭equipped‬ ‭with‬ ‭five‬ ‭fingers,‬ ‭known‬ ‭as‬ ‭a‬ ‭Biomimetic‬ ‭robotic‬ ‭hand,‬ ‭finds‬ ‭versatile‬
A
‭applications‬‭across‬‭diverse‬‭fields.‬‭In‬‭the‬‭realm‬‭of‬‭manufacturing‬‭and‬‭industry,‬‭it‬‭proves‬‭invaluable‬
‭for‬ ‭automating‬ ‭assembly‬ ‭lines,‬ ‭seamlessly‬ ‭handling‬ ‭materials,‬ ‭and‬ ‭facilitating‬ ‭packaging‬ ‭tasks.‬
‭Additionally,‬ ‭these‬‭hands‬‭play‬‭a‬‭crucial‬‭role‬‭in‬‭prosthetics,‬‭offering‬‭amputees‬‭a‬‭more‬‭natural‬‭and‬
‭functional‬‭alternative.‬‭In‬‭the‬‭medical‬‭field,‬‭they‬‭contribute‬‭to‬‭precision‬‭surgeries,‬‭enabling‬‭delicate‬
‭and‬ ‭intricate‬ ‭movements.‬ ‭Moreover,‬ ‭the‬ ‭use‬ ‭of‬ ‭robotic‬ ‭hands‬ ‭extends‬ ‭to‬ ‭space‬ ‭exploration‬ ‭for‬
‭tasks‬ ‭like‬ ‭repairs‬ ‭and‬ ‭maintenance.‬‭In‬‭disaster‬‭scenarios,‬‭these‬‭hands‬‭aid‬‭in‬‭search‬‭and‬‭rescue‬
‭operations,‬ ‭navigating‬ ‭hazardous‬ ‭environments‬ ‭with‬ ‭agility.‬ ‭Remote‬‭handling‬‭of‬‭robotic‬‭hands‬‭is‬
‭employed‬ ‭for‬‭tasks‬‭in‬‭high-risk‬‭environments,‬‭ensuring‬‭safety‬‭for‬‭human‬‭operators.‬‭Furthermore,‬
‭their‬ ‭role‬ ‭in‬‭human-robot‬‭collaboration‬‭enhances‬‭productivity‬‭in‬‭collaborative‬‭work‬‭environments.‬
‭In‬ ‭research‬ ‭and‬ ‭development,‬ ‭robotic‬ ‭hands‬ ‭serve‬ ‭as‬ ‭essential‬ ‭tools‬ ‭for‬ ‭experimentation‬ ‭and‬
‭testing,‬ ‭contributing‬ ‭to‬ ‭advancements‬ ‭in‬ ‭control‬ ‭algorithms‬ ‭and‬ ‭overall‬ ‭robotic‬ ‭system‬ ‭design.‬
‭Additionally,‬ ‭they‬ ‭offer‬ ‭immersive‬‭experiences‬‭in‬‭entertainment‬‭and‬‭gaming,‬‭particularly‬‭in‬‭virtual‬
‭and‬‭augmented‬‭reality‬‭settings.‬‭The‬‭continual‬‭evolution‬‭of‬‭technology‬‭promises‬‭further‬‭innovative‬
‭applications for robotic hands across a spectrum of domains.‬

‭Reference Link‬‭:-‬

‭ ttps://www.researchgate.net/publication/324532819_Toward_Dexterous_Manipulation_With_Aug‬
h
‭mented_Adaptive_Synergies_The_PisaIIT_SoftHand_2‬
‭FULLTEXT01.pdf (diva-portal.o‬

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