01 PROJECT TsingSens Hand
01 PROJECT TS Hand
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< 20-DOF Dexterous Robot Hand >
< 20-DOF Dexterous Robot Hand >
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log.begin {
TsingSens Hand is a 20-degree-of-freedom dexterous robotic hand developed during a summer internship at Tsinghua University’s Future Laboratory. It was designed as a low-cost research platform for studying grasping mechanics and testing sim-to-real models.
Each finger joint is independently actuated by a series of UBTech bus servos controlled through a UART serial protocol, enabling addressable control and coordinated multi-finger motion. Internal optical encoders provide continuous joint position feedback, allowing precise tracking of finger kinematics. Finger components were printed in rigid PLA, while the palm was printed in flexible TPU to provide compliance during contact and grasping.
A 3-degree-of-freedom wrist extends the system’s manipulation range, providing yaw–pitch rotation through lever linkages and roll through a crossed-axis bearing mount driven by higher-torque bus servos. Mechanical bearings are incorporated to support bending loads, and a 6-axis force–torque sensor is mounted to the base through a custom-machined metal bracket for data collection.
A Python control framework was then developed to interface with the serial servo network, enabling coordinated actuation and reverse learning of demonstrated joint trajectories. By capturing encoder positions through the serial protocol, the system can store and reproduce complex gesture sequences, such as counting from 1 to 9.
“Prototyping tomorrow’s handshakes.”
}
< view log >
PRODUCT DEMONSTRATION
PRODUCT DEMONSTRATION
FINGER DEVELOPMENT
FINGER DEVELOPMENT
PALM DEVELOPMENT
PALM DEVELOPMENT
WRIST DEVELOPMENT
WRIST DEVELOPMENT
FINAL CAD
FINAL CAD
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