HRI Hand
Based on published sources · Not tested by us ·
Overview
Six linear actuators drive five fingers with coupled joints; NUCLEO-F303K8 control, Bluetooth and ROS support. [S001]
The HRI Hand paper describes five modular fingers driven by six linear actuators, with NUCLEO-F303K8 control, Bluetooth and ROS. It demonstrates mounting on a UR3 and specifies an ISO 9409-1-50-4-M6 wrist interface. That published configuration is distinct from a verified fit on another cobot. [S001]
Specifications
| Detail | Description |
|---|---|
| Type | Dexterous hands Source-researched; no physical verification. Editorial assessment [S001] · Checked 2026-09-30 |
| Intended users | Builders evaluating this tooling design and its integration requirements Editorial assessment [S001] · Checked 2026-09-30 |
| Assembly | The paper lists 19 hardware design entries including STEP files; match six-motor BOM, machined versus printed configuration and control revision. Paper prices are historical. Known prerequisites and unresolved assembly decisions; not a complete build instruction. Editorial assessment [S001] · Checked 2026-09-30 |
| Calibration | Not known |
| Operating system | Not known |
| Computer needed | Not known |
3D preview
Preview not available yet. A model has not yet been prepared and approved for display on this page. This does not mean the project lacks CAD files; see Source files and licenses for the reviewed source availability.
Assembly and use
Reproduce the paper’s configuration first
The BOM specifies PQ12 linear actuators with 20 mm travel, 100:1 gearing, 12 V and RC control. The paper’s power architecture uses a 12 V, 2 A supply and a step-down regulator for the controller. Its software procedure names Ubuntu 16.04 and ROS Kinetic; current compatibility is unverified. [S001]
Begin with Tables 4–6 and the operation instructions. The paper lists 19 hardware design entries, including STEP files, and links a BOM spreadsheet, firmware and schematic repository and ROS repository. These are paper-listed resources; their present contents and cross-revision compatibility still need checking. [S001]
Cost, measurements and source rights
Historical prices are internally scoped differently: the specifications table gives $400 for SUS304 processing, while the BOM lists $440.73 for processing alone and $420 for six actuators. Reconcile the printed or machined fabrication route and full BOM before treating any of those figures as a build total. [S001]
Section 7 reports fingertip-force and joint-speed experiments for the authors’ configuration. Those are upstream results; neither the published performance nor an adapted build has been independently verified for this profile. [S001]
The paper lists hardware, firmware, schematics and ROS resources under MIT. Confirm the notices and revisions of the selected artifacts before reuse; the paper’s list is distinct from independent verification of every current file. No hardware assembly or test was performed here. [S001]
Cost
No current, complete configuration-specific build cost has been established for this profile.
Source files and licenses
Paper explicitly lists hardware design files under MIT; reconcile artifact-specific OSF notices. The paper lists 19 hardware design entries including STEP files; match six-motor BOM, machined versus printed configuration and control revision. Paper prices are historical.
| Layer | Availability / license |
|---|---|
| mechanical design | available · MIT Paper explicitly lists hardware design files under MIT; reconcile artifact-specific OSF notices. Availability refers to the scoped files described here, not a complete configuration-matched manufacturing pack. [S001] |
| electronics | not found · License not fully assessed A complete revision-matched source set for this tooling configuration was not established in the inspected documents. Standalone controls and purchased components require separate review; this is not a claim that no code or electronic files exist. [S001] |
| firmware | not found · License not fully assessed A complete revision-matched source set for this tooling configuration was not established in the inspected documents. Standalone controls and purchased components require separate review; this is not a claim that no code or electronic files exist. [S001] |
| software | not found · License not fully assessed A complete revision-matched source set for this tooling configuration was not established in the inspected documents. Standalone controls and purchased components require separate review; this is not a claim that no code or electronic files exist. [S001] |
| documentation | available · License not fully assessed Paper explicitly lists hardware design files under MIT; reconcile artifact-specific OSF notices. Availability refers to the scoped files described here, not a complete configuration-matched manufacturing pack. [S001] |
This profile scopes hardware tooling, without selecting a learned controller or training dataset.
References
Links identify the documentation and revisions used in this profile. Access dates record when each source was retrieved.
- S001 · pmc.ncbi.nlm.nih.gov
HRI Hand upstream documentation
Accessed 2026-09-30 · Captured 2026-09-30Source notes
Evidence for the scoped draft design assessment.
Correction guidance · Discussion is not enabled · Profile format 0.6.0-draft.1
Change history
2026-09-30 — Classified in the end-effector hierarchy with cited mechanism and platform evidence; build and rights limitations retained.