DexHand @dexhandv2 Twitter profile

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DexHand

@dexhandv2

4 months

A busy bench here again today. Kind of a cool shot to end the day though.

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DexHand

@dexhandv2

2 months

Good progress this week. The first SLS printed Beta unit looks amazing!

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DexHand

@dexhandv2

3 months

Morning testing. Range of motion test on all the joints. Moves a bit notchy because I’m stepping in degrees, but looks good overall!

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DexHand

@dexhandv2

2 months

Here is a much more detailed shot of an assembled thumb made from SLS printed components. The fit and action is definitely the smoothest we’ve seen so far in printed parts.

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DexHand

@dexhandv2

4 months

First cobot forearm build is progressing well. This is designed to attach the DexHand to a UR3. Hoping to test it out next week!

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DexHand

@dexhandv2

6 months

It's a firmware development sort of a day here in DexHand-land. Implementing Google Protocol Buffers for USB messaging to make it easy to adapt to different languages and platforms in the future.

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DexHand

@dexhandv2

4 months

Been a while since we’ve dropped a video of the DexHand. Here’s the result of some Saturday morning hacking with a crude initial calibration. Still surprised by how fast this thing moves!

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DexHand

@dexhandv2

6 months

It's alive! And, it's disturbingly fast....

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DexHand

@dexhandv2

4 months

Hello from DexHand! Mounted up to the UR3 for the first time today. Still a few things to figure out, but this is an exciting step forward

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DexHand

@dexhandv2

4 months

Test sequence, with most of the guts tucked inside the hand. Moving onto thumb control next. There's 4 DOF's in the thumb so I need to figure that out.

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DexHand

@dexhandv2

4 months

Routed some basic bus bar boards to tidy up the wiring in the palm today. Worked out great!

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DexHand

@dexhandv2

2 months

Finger factory is running full steam today getting beta hands ready for trials!

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DexHand

@dexhandv2

6 months

Not the most exciting motion path, but the USB control stream to and from the DexHand is working. I am testing a 50hz servo position update loop upstream and 10hz back down at the moment and it all seems healthy. Obviously, the servos don't update that fast, but was curious.

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DexHand

@dexhandv2

4 months

Beautiful chaos. Building up a couple cobot hands this week.

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DexHand

@dexhandv2

5 months

Built up a finger set and finalized all the plastics for the first cobot forearm build. This one is going on a UR3 at the shop for some life cycle testing.

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DexHand

@dexhandv2

6 months

Latest rev of the palm is back together. Just going to go check the endpoints to make sure everything is spinning the right way and then back on the forearm. Really pushing to have a DexHand to play with this weekend!

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DexHand

@dexhandv2

2 months

Servo jigs are loaded and ready for some bulk setup. We're pushing to get the first round of Beta hands assembled and out the door.

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DexHand

@dexhandv2

5 months

Thanks for sharing @Ilir_AI ! We’ve got a bunch of updates coming next week. Been a busy time pulling the software stack together but nearly there.

Ilir

@Ilir_AI

5 months

@dexhandv2 is the ultimate research tool for physical dexterous manipulation tasks requiring human-like dexterity: ✅ 19 Degrees of Freedom ✅ Endless Applications ✅ 5kg Grip Strength ✅ 1.4kg Weight Hardware and Design Human-inspired anatomy and dimensions. 19-DOFs, durable,

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DexHand

@dexhandv2

5 months

Sneak preview of the #cobot forearm for the DexHand. This unit has a flange adapter to fit on a UR3, but we're planning to make them for any arms that customers might want to test the hand with. What are people using our there these days for arms other than UR?

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DexHand

@dexhandv2

6 months

Testing out the latest prints. It's amazing how colour coordinating the materials can make you look like you mean business. This is the new forearm and palm rev going together. Hoping this is our final spin before retolerancing everything for SLS printing.

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DexHand

@dexhandv2

7 months

Alpha unit mechanical assembly achievement unlocked! All the pieces are in the places, tendons connected, and the motors work one at a time. Going to see if we can get this tuned up!

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DexHand

@dexhandv2

7 months

It's alive! #dexhand #robot

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DexHand

@dexhandv2

6 months

Some early morning coffee fuelled hacking so that I can get moving on the next rev of the firmware for the hand. Got lucky - the tweaks that were needed involved far less disassembly than they could have! I think that’s the prayer of the #robot hand builder. “Please, god of

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DexHand

@dexhandv2

6 months

Back to the drawing board on a couple of the palm servos. Hoping to print a revision today to get things back together so we can finish up the alpha unit. Sometimes it’s two steps forward, one step back.

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DexHand

@dexhandv2

5 months

Our dark overlord @iotdesignshop just open sourced an internal tool called Feetech-tuna. If you’ve ever used FD.exe to commission Feetech servos, you might want to have a look.

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DexHand

@dexhandv2

2 months

Should also note - these were printed locally here in Vancouver by @Shop3Dca on a Form Fuse

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DexHand

@dexhandv2

5 months

@saba_khalilnaji We’re working on this. What I have heard most frequently from prospective customers: - Hands are expensive - Hands are hard to control - When they break, it takes a long time to get them fixed - They break a lot I think the control issues would actually be resolved if we dealt

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DexHand

@dexhandv2

7 months

Progress! We've got ourselves a forearm! #dexhand #alphabuild #robot #humanoid

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DexHand

@dexhandv2

7 months

I don't normally machine a lot of parts at this scale, but it was kind of a fun challenge to build these motor transmission brackets for our upcoming robot arm. #cnc #robot #humanoid

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DexHand

@dexhandv2

4 months

@KennethCassel Haas literally employs this exact strategy for their CNC machines.

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DexHand

@dexhandv2

7 months

@thegarrettscott Here you go!

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DexHand

@dexhandv2

5 months

Thanks for the shout out @Ilir_AI !

Ilir

@Ilir_AI

5 months

20 Open-Source Robotics Projects 🦾 - ON GITHUB - Here are 20 fascinating projects to accelerate your robotics knowledge and unlock valuable learning experiences: 1. ROSbot 2.0: An open-source mobile robot platform 2. Magni: An affordable robotic

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DexHand

@dexhandv2

5 months

@lethic1 Fantastic! That looks great. It's always amazing how simple things look once they are working, but we appreciate all the efforts and tweaks that go into a build like that.

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DexHand

@dexhandv2

3 months

@lethic1 We did this too. Makes life a lot easier.

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DexHand

@dexhandv2

6 months

@vateseif Hi @vateseif ! We’ve got both options actually. The previous V1 hand has been open sourced at and this V2 hand is going to beta at .

DexHand - An Open Source Dexterous Humanoid Robot Hand

The DexHand is an Open Source Dexterous Humanoid Robot Hand. It is intended to be a low-cost R&D platform for exploring grasping and manipulation for robots intending to use humanoid hands as their...

www.dexhand.org

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DexHand

@dexhandv2

7 months

We have a wrist/forearm junction! (Hammer was only needed as a threat)

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DexHand

@dexhandv2

7 months

Finished up machining all the shiny bits for a couple prototype arms today. They're going into a new build later this week. #humanoid #CNC #robot

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DexHand

@dexhandv2

8 months

It’s thumb day today. Getting tendons and ligaments routed on the prototype. #dexhand #robotics #humanoid

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DexHand

@dexhandv2

8 months

Time to get these servos programmed up. #robotics #humanoid #dexhand

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DexHand

@dexhandv2

2 months

@CubedUnit The biggest thing is avoiding any surface defects created by SLA or FDM processes. There’s a ton of internal chambers and routing for tendons and wiring so it can be quite a chore to make sure everything is cleaned out and fits well after prints.

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DexHand

@dexhandv2

8 months

Nice shot of the palm cover emerging from the primordial goo. #3DPrinting #robot #robotics #humanoid

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DexHand

@dexhandv2

8 months

It's a #servo #programming kind of a day over here. Setting up some Feetech STS3032s for the #DexHand .

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DexHand

@dexhandv2

4 months

@rwik_rana This version of the hand is designed to attach to the end of a cobot arm. Targeting a UR3 in this case so the wrist articulation comes from the arm. We do have a version of the forearm with an articulated wrist as well which provides more natural wrist motion.

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DexHand

@dexhandv2

8 months

Quick and dirty test fit of the production configuration of the #dexhand forearm. #humanoid #robotics #robot

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DexHand

@dexhandv2

8 months

Checking servo fit in the forearm today. #dexhand #humanoid #robot

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DexHand

@dexhandv2

5 months

@saba_khalilnaji Super cool! Nice work.

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DexHand

@dexhandv2

3 months

@SlimActualX1 @Fennex628 @_nightsweekends @_buildspace If you can find some sort of smart servos that will manage current and temperature limits that also fit your form factor, I’d highly recommend it. On the V2 DexHand we are using Feetech 3032’s and it’s a game changer.

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DexHand

@dexhandv2

2 months

@Fennex628 Yes! Very happy with the print quality on the SLS prints The palm section is amazing looking.

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DexHand

@dexhandv2

8 months

Starting to come together. Thumb is mostly attached and getting ready to join the halves of the #DexHand together! #robot #humanoid

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DexHand

@dexhandv2

2 months

@Chemist_John_ Do it! That sounds like a very interesting design.

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DexHand

@dexhandv2

7 months

A busy bench today attaching the wrist and forearm to the prototype unit. #dexhand #humanoid #robot

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DexHand

@dexhandv2

6 months

@ramkumarkoppu @RemiCadene @Ilir_AI @OrangewoodLabs @trentshumay That’s definitely the tricky part. Getting everything printed and prepped is quite a bit of work. You can get kits of the printed parts for Robot Nano Hand so that’s a bit easier to build.

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DexHand

@dexhandv2

5 months

@LerrelPinto @AadhithyaIyer Excellent. Will dig in and have a look.

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DexHand

@dexhandv2

3 months

@saba_khalilnaji Looks fantastic. Very nice work!

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DexHand

@dexhandv2

5 months

@MRiwu_u Thank you! We're working on it right now actually! Trying to get some TeleOp solutions going to do some life cycle testing on the hand.

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DexHand

@dexhandv2

6 months

@ramkumarkoppu Use in prosthetics is a fairly frequent question in our inbound contacts. It’s not a use case we’re super familiar with, so hard to answer. Our belief is that the regulatory overhead is high and that the DexHand likely has more DOF’s than are controllable. But doesn’t mean it

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DexHand

@dexhandv2

2 months

@th1nkp0l Thank you! The sleeves are 2mm OD PTFE tubing and the tendons are 80lb Kevlar reinforced fishing braid. The combination allows for pretty smooth motion and good strength.

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DexHand

@dexhandv2

8 months

A prototype shoulder joint straight off the machine this morning #3dprinted with PAHT-CF, a carbon-fibre infused filament.

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DexHand

@dexhandv2

2 months

@Fennex628 That looks like a very useful tool.

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DexHand

@dexhandv2

7 months

Newsletter release! Episode 1 of the DexHand Insider's Newsletter is out. Check out progress, and our beta program updates.

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DexHand

@dexhandv2

7 months

Started CNC machining the shiny bits for the arm today. Hoping to get everything pulled together next week. #dexhand #humanoid #robot

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DexHand

@dexhandv2

6 months

@kenny__shaw @lethic1 We’ve been experimenting a bit with the diameter of our servo horns and winches to try find the balance of speed/torque. Toward the lower end of the diameter range we found the issue was not so much being strong enough but actually overcoming our mounting systems for clamping the

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DexHand

@dexhandv2

6 months

@ramkumarkoppu @RemiCadene @Ilir_AI @OrangewoodLabs @trentshumay DexHandV2 is fairly agnostic - the hand itself just provides firmware level access to motor controls and some tuning like endpoint adjustment and position/status streaming across USB. We’ll have libraries for driving it via C++ and Python, and a ROS 2 connector. You’ll be able to

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DexHand

@dexhandv2

4 months

@Anthrobo Thanks so much! That’s the goal. I’ve got a bunch of CNC machines downstairs that currently need to be “loaded by hand” but hoping that will be a robot hand soon instead of mine!

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DexHand

@dexhandv2

5 months

@LawyerLiam Low Cost Dexterous Humanoid Hands for Robotics

DexHand - An Open Source Dexterous Humanoid Robot Hand

The DexHand is an Open Source Dexterous Humanoid Robot Hand. It is intended to be a low-cost R&D platform for exploring grasping and manipulation for robots intending to use humanoid hands as their...

www.dexhand.org

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DexHand

@dexhandv2

5 months

@jvboid @Ilir_AI @HumanRobotsAI @ycombinator @POINTBLANK_LLC @Fennex628 @Anthrobo @kscalelabs @CKohstall Followed! Should be fun.

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DexHand

@dexhandv2

7 months

Getting the servo ID’s and firmware configured on the #dexhand . Hoping to have things running next week! #robotics #humanoid

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DexHand

@dexhandv2

4 months

Tap to open the video - crop is a bit weird.

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DexHand

@dexhandv2

2 months

@Rare_Mattt They get attached to digital servos. We’re currently using Feetech STS3032 servos in the forearm to control them.

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DexHand

@dexhandv2

6 months

@lethic1 Is that a STS3032 servo? We’re using those as well in our hand.

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DexHand

@dexhandv2

2 months

@vikkhanna @victoriajungvan @BCNDPCaucus You bet! Thanks Vik. We are here in B.C. and would love to be part of the STEM Curriculum!

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DexHand

@dexhandv2

4 months

@adams10ne Kind of. We use them for CNC machine tending at our shop, so there are UR’s that can be misappropriated for other robotic experiments. I’d actually really like to try set up a pair for a bimanual rig once everything is working

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DexHand

@dexhandv2

7 months

@QinYuzhe Incredible work. This is amazing to see this type of learning come to fruition. Is there a hand tracking suite for the RealSense camera already, or is that something that you built?

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DexHand

@dexhandv2

8 months

Our Beta landing page is live! Please come check out our dexterous hand at #robotics #humanoid #research #ai

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DexHand

@dexhandv2

3 months

@SlimActualX1 @_nightsweekends @Fennex628 @_buildspace @trentshumay @Anthrobo Awesome stuff! Looking forward to seeing it. Let us know if you need any help.

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DexHand

@dexhandv2

3 months

@Anthrobo Awesome stuff! Congrats on the release.

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DexHand

@dexhandv2

3 months

@ramkumarkoppu Nothing thus far. Obviously, there’s lots of support for UR3, but we haven’t developed a simulation model for the hand yet. It’s on the to-do list.

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DexHand

@dexhandv2

6 months

@BillyZelsnack Epic. I would buy this tomorrow.

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DexHand

@dexhandv2

4 months

@chrisdotai Thanks. That’s an interesting way to do it.

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DexHand

@dexhandv2

5 months

@MRiwu_u The 3D printed parts pictured here are largely SLA (resin) printed on a Formlabs Form 2 using Tough 2000 and Tough 1500 resin. The forearm is PLA-CF, but that's just for prototyping. All the parts will be moving to SLS Nylon very soon.

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DexHand

@dexhandv2

2 months

@Teebotjs The ones in that photo were SLA printed on a Formlabs printer. The resolution on the Form SLA machines is very good, but they do require a lot of supports which is quite a bit of work to clean up. With the new SLS prints, we don't have to worry about support structures.

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DexHand

@dexhandv2

6 months

@ramkumarkoppu There are actually outer shells that wrap the forearm that can be totally customized/branded. So, definitely something that can be accommodated.

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DexHand

@dexhandv2

4 months

@dddd19447586750 Awesome. Well, hopefully it will be possible to have one soon! We need to test things out a bit but so far so good.

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DexHand

@dexhandv2

6 months

@ramkumarkoppu Yes. Absolutely. The finger tips and knuckles connect to the long flexors that travel down into the forearm. I didn’t have those connected in this video, but I’ll post the whole thing working soon.

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DexHand

@dexhandv2

7 months

@YonmookPark @iotdesignshop Thanks so much @YonmookPark ! We appreciate the share. We are huge fans of the Allegro hand!

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DexHand

@dexhandv2

6 months

@ramkumarkoppu @RemiCadene @Ilir_AI @OrangewoodLabs @trentshumay Yes! Also a cool hand. The designer of the Robot Nano Hand is Rob Knight, who is also the designer of the DexHand series. Rob has been doing this for a while now!

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DexHand

@dexhandv2

4 months

@octal @garrytan We’re doing this with hands right now. Hoping to expand up the chain.

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DexHand

@dexhandv2

6 months

Click to open the full size video. The crop is a bit crappy.

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DexHand

@dexhandv2

3 months

@Fennex628 Thanks Ian! To be honest, I’m not 100% sure on the torque yet. I have the limits on the servos set at 40% at the moment to avoid catastrophes during testing. That provides a very firm grip on stuff I’ve tried to grab with the hand. No idea what happens if I bump that higher yet.

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DexHand

@dexhandv2

6 months

@kenny__shaw @lethic1 The bigger issue we’ve had with the STS3032 has been that although they support multi turn, the encoder is single turn, and position is not absolute if you cycle the power so you need some sort of homing routine if you want to use the multi turn mode. So, small winches expose

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DexHand

@dexhandv2

4 months

@zshobbs Also, FWIW, we’re a team of two people that’s come up with this and built it - trying to figure out if there would be a path that makes it sustainable to keep developing on it. That’s maybe important context. The dream would be to make the project self sufficient somehow.

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DexHand

@dexhandv2

7 months

@CKohstall We’re taking a run at the dexterous hand challenge. Just getting ready to roll out beta hardware. We welcome any feedback on our project and invite everyone to follow along!

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DexHand

@dexhandv2

4 months

@Adamnathe The cobot version in the photo has 16 driven DOF’s. We have another version of the forearm for attaching to humanoids that takes it up to 19 with an actuated wrist.

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DexHand

@dexhandv2

3 months

@SlimActualX1 @Fennex628 @_nightsweekends @_buildspace No worries! The biggest difference is that conventional servos let out the smoke when they overload, but the smart serial ones will shut down themselves before they blow up. So, that saves a lot of repairs.

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DexHand

@dexhandv2

2 months

@Joedefendre Thanks so much. Yeah. These prints make the whole thing look the business.

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DexHand

@dexhandv2

5 months

@MRiwu_u Definitely! Right now, our limiting factors are not the resolution of the grasp. They're far more fundamental than that - just basic controls and getting the hardware and firmware working are job #1 . But, we're definitely eyeing the future and watching all the options keenly.

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DexHand

@dexhandv2

6 months

@GrahamFleming_ Thanks! Will be fun to get it doing real stuff soon, but I'll take "moving under control" as a baseline.

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DexHand

@dexhandv2

4 months

@ichigo_robot Thanks so much!

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DexHand

@dexhandv2

8 months

@vikkhanna Thanks Vik! Very excited to finally unwrap this for people to try out.

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DexHand

@dexhandv2

2 months

@CubedUnit Been lucky so far. Only a couple of channels have needed any clearing. Hopefully that continues.

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