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Robotic/Prosthetic hand
A robotic/prosthetic hand (or claw, if you like...) with feedback. Controlled via a skeletal hand.
About this creation
This is a prototype for my AS electronics project (to control it using electronics). I built it using 3 RCX bricks, one for each finger. The hand has two fingers and an opposable thumb. Each finger/thumb uses a rack & pinion mechanism which moves flexible tubes attached to the fingertips. Feedback is given by light sensors and a gradient attached to the toothed rack. It is controlled by a skeletal hand that you wear, with rotation sensors for the fingers and touch sensors for the wrist (the wrist movement up/down has no feedback - I ran out of space-efficient sensors so just went with touch sensors). Any ideas about a way to make a touch sensor mechanism that could detect position accurately would be welcome!

It can pick up balls and other objects and manipulate them quite easily. Its quite funny to watch other people using it! The system requires you to hold your hand steady - the robot will copy you exactly - if you don't, it can be hard to hold objects properly. I was limited in the number of sensors so pressure feedback was unavailable, but it may be possible in my project.

Enjoy :-P

VIDEOS. Right click and "save link as". Maybe more videos in the future, but please leave reviews on my MOC pages so that I know if anyone is interested!

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   Overview, showing in particular the rack & pinion wrist movement system at the back of the hand.

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   Well, I made it so I might as well put it up :-) In case you wonder about these kind of things, this is the second webpage for this moc because the old one didn't have the rating & review system for some reason.

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   The fingers. The yellow tubes are the tendons. You can also see the motor and wormgear drive (although a clearer shot is shown below).

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   An earlier version

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   My hand in the sensor skeleton

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   The skeleton has three rotation sensors, one for each finger, and two touch sensors for the wrist movement.

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   The RCX bricks. The two on the right are facing each other for the IR communication.

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   Another overall shot

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   Here you can see the light sensor and printed paper gradient.

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   The skeletal hand without a user


 I like it 
  October 8, 2017
Hello, I am a french student and I do a work of Humans increased. Your mecanic lego hand is very interesting to do an exemple on my presentation. Can you explain me how did you make it ? Did you have the plans to share it? Please ? Thank you to answer me. Sincerely Enzo Courtaud
  June 10, 2015
Cioo Brick Busters! To build the robot hand I've looked for lego cuusoo ideas view 6512 and there are or lego 6512 or a lot of cuusoo, not together. And I've looked for lego cuusoo 8062,but there are a lot of 8062, they are expensive and if I buy and peaces aren't them? I hope you can give me code of box/boxes. Or photos of boxes, so I can buy. I give you my e-mail: I've looked for David Hyman but there is a white page! Can you help me? I need this hand!
  June 9, 2015
Goodmorning, I'm from Italy. My name is Patrizia and I need info about the robot hand, I need for my child Francesca who is 8 years old, becouse she has a deficit in the body on the right hand (for tumor) and with this robot it's possible to do passive gymnastic, that's very important for her! Can I buy it? Please. A specific product exists, but from 12 years old and she has hand too small to wear it. Can you sale it, or say me the nr. of Lego? I know a man very special who can assemble it. Grazie and excuse me for my bad english. Patrizia
  February 28, 2013
Do you have any tips for going about building a similar robotic hand? Or an instructable or video with the process and materials (type of lego) used? I am a grade 12 student, and would like to build a robotic hand like this myself as I have tons of lego for a biology final project. It is hard to do by just looking at pictures! thanks
  December 14, 2011
Hello, your creation has been uploaded to LEGO CUUSOO by someone else, here is a screencap: ----- You can report it here:
 I like it 
  February 12, 2011
Impressive indeed. I would like to mention the exoskeleton system in literature survey section of my thesis by giving ref. to your website. May I know something more about the Exoskeleton (e.g. what kinf of actuators, how many DOF/finger...) Can you send me an email Thanks a lot. May I know
 I like it 
  February 26, 2010
Woah. Is it like that awesome machine? Very cool thing.
 I like it 
  February 27, 2005
Oh, man, that's sweet. The pics are a little confusing, though. Can you put up better ones?
David Hyman
 I like it 
Rags naRock
  February 26, 2005
Wow, awesome project. Do you have any movies of it in action maybe?
By David Hyman
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Added February 26, 2005
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