https://github.com/wengmister/BiDexHand
Open source release of dexterous robotic hand, MSR Winter 2025
https://github.com/wengmister/BiDexHand
Last synced: 15 days ago
JSON representation
Open source release of dexterous robotic hand, MSR Winter 2025
- Host: GitHub
- URL: https://github.com/wengmister/BiDexHand
- Owner: wengmister
- License: mit
- Created: 2025-02-11T19:14:21.000Z (3 months ago)
- Default Branch: main
- Last Pushed: 2025-04-22T20:45:20.000Z (21 days ago)
- Last Synced: 2025-04-22T21:35:01.293Z (21 days ago)
- Language: Python
- Size: 61.4 MB
- Stars: 54
- Watchers: 3
- Forks: 7
- Open Issues: 1
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
- awesome-robotics-projects - BiDexHand - BiDexHand: Open-Source 16-DoF Biomimetic Dexterous Hand (Uncategorized / Uncategorized)
README
# BiDexHand: Open-Source 16-DoF Biomimetic Dexterous Hand
Author: [Zhengyang Kris Weng](https://wengmister.github.io/)
Preprint: [arXiv](https://arxiv.org/abs/2504.14712)
Open source release of biomimetic dexterous robotic hand, a 10-week individual project. This guide will help you build your own hand and get your started on the setup.
[](https://youtu.be/X8zVKlZNorc?si=lmVslFvECZyih0Kd)
# Overview
This is the open source release of the BiDexHand V3, a robotic hand featuring 16 degrees of freedom. It utilizes a cable-and-pulley system, with 15 servos arranged in `N configuration` to drive its 15 joints with tendon.
Each finger provides three degrees of freedom: metacarpal (MCP) adduction/abduction, MCP flexion/extension, and proximal interphalangeal (PIP) flexion/extension. A custom four-bar linkage at the distal end of each phalanx converts the PIP motion into a coupled movement at the distal interphalangeal (DIP) joint. The thumb is designed with four degrees of freedom, including carpometacarpal (CMC) adduction/abduction and flexion/extension, as well as MCP adduction/abduction and flexion/extension.
The hand is controlled through provided `ROS2` packages found in `/src`. It provides several modes to interface with the robot - `motion shadowing` and `servo input` streaming through `ROS2` topic, or direct `servo input` control through CLI. See packages in `/src` for more details.
# Hardware Setup
STEP file for the cad asset can be found under `/cad_asset/_stp`, and individual STL file under `/cad_asset/_stl`.
See [BOM.md](/BOM.md) for more details.
Build instruction currently under construction, I'm planning on releasing it soon.
For `V3`, flash and deploy `/scripts/esp32_multi_servo_control (or _feather)` through `Arduino IDE`.
# Environment Setup
This project currently runs on `ROS2-JAZZY`. To build locally, run:
git clone https://github.com/wengmister/BiDexHand.git
cd BiDexHand
rosdep install --from-paths src -y --ignore-src
Finally,
colcon build
. install/setup.bash
# VR Setup
If you plan to use Meta Quest for the motion shadowing demo, you can follow the build and deployment steps in [this repo](https://github.com/NU-MECH-ENG-495/vr-hand-tracking).
# Quickstart
### Hand Control
For motion shadowing:
ros2 launch hand_motion_shadowing shadowing.launch.xml usb:=/dev/ttyACM0
For direct servo control:
ros2 launch hand_servo_control multi_servo_control.launch.xml usb:=/dev/ttyACM0
Change usb port based on your device setting.
For Franka `MoveIT!` config demo:
ros2 launch combined_fer_moveit_config demo.launch.py
### Franka Integration
For deploying on real Franka Fer, copy and build the following packages to your robot `station`:
- hand_rviz
- combined_fer_moveit_config
On station, run:
ros2 launch combined_fer_moveit_config real.launch.py use_rviz:=false robot_ip:=[YOUR_ROBOT_IP]
On your laptop, run:
ros2 launch combined_fer_moveit_config moveit_rviz.launch.py robot_ip:=[YOUR_ROBOT_IP]
# Demo
### Mixed Reality Motion Shadowing
### Franka FER Integrated
# License
MIT