- hero-falcon-handa.jpg (69.16 KiB) Viewed 4887 times
Quick summary: The falcon hand is a test bed we built at Seattle Pacific University. Problems we wanted to (and did) solve:
1. Maintainability - we want the design to be repairable by a one-handed individual
2. Hardware free - we wanted to be 100% printable
3. Fully printable in PLA or ABS - I love many of the new materials but many makers don't have them or their printers are not friendly to them.
4. Positionable thumb - we want the thumb to be able to create both a cylindrical (like you're holding a water bottle) grip and key (current raptor hand) grip.
5. Easy to assemble - no (or very few) knots, specifically no knots that are position sensitive
6. Modular Bracer - Along the lines of the picatinny rail system, we want to be able to easily cover up the tensioner system with something more artistic should the user desire
7. Modular palm cover - we want to enable artist and/or designers to easily create custom palm covers without having to redesign the entire palm; we are also using this to test our locking schemes for grip.
8. More anthropomorphic geometry - make it more human like, less robotic like
Our current version is located here:
All portions of the design work well - it is demonstrably easier to build, easier to maintain, and has the functionality we want. The palm cover system isn't good yet though.
It has not yet been fit to a person; in order to do that I have to submit an IRB to the university which I will be doing in the next couple of days.
The design has been idle for the last few months (we're on the quarter system at the university and all of the students who wanted to work on it were unavailable winter quarter) but we're back to it.
Our plan for spring is to try to drive the design home. The design schedule is:
April 10 Palm cover test: Reconfigured design suitable for replacement palm
April 17 Final reconfigured palm / cover meeting target requirements below (including improved aesthetics and snap-in design)
April 24 Aesthetically improved fingers and horizontal snap in configuration
May 1 Replacement thumb snap in and testing of complete system
May 8 Complete system testing
May 15 Documentation
May 22 Documentatin
May 29 Watch band test
June 5 Unified / tethering of tendons
Final Delivrable Completed falcon hand, including
• Modular palm cover
• Aesthetically improved fingers
• Horizontal snap in fingers
• Urethane glove friendly configuration (without thumb rotation)
• Aesthetically and functionally improved palm cover
• Replaced thumb clip for improved maintainance
• Documentation/instructions and video on assembly
• Documentation on shape for replacement palms
Experiments conducted on
• Watch band bracer
• Unified/tethered tendons (single tendon over wrist)