Industrial & Biomedical Automation · Intermediate

Soft-Grip Servo Hand

Low-cost haptic mechanism designed around gentle contact with human-safe test objects. Low-cost haptic mechanism designed around gentle contact with human-safe test objects.

Components

  • MCU
  • servo hand
  • force/current sensing

Build steps

  1. Inventory the board, actuators, sensors, and power rails listed for I01.
  2. Build and inspect the low-voltage wiring against the supplied connection diagram before connecting actuators.
  3. Flash the firmware, run the startup self-check, and record the printed board and firmware version.
  4. Calibrate the sensors and limits, then run the acceptance tests at the lowest safe energy level.

Test and expected result

Force limit, repeatability, pinch-point guarding, and release on power loss.

Safety and limits

Non-clinical prototype; never attach to a person.

Download Arduino source code

Download connection diagram SVG

Soft-Grip Servo Hand project illustration