Yale OpenHand Project

From Yale's OpenHand Project:

This project intends to establish a series of open-source hand designs, and through the contributions of the open-source user community, result in a large number of useful design modifications and variations available to researchers.

Based on the original SDM Hand, the Model T is the OpenHand Project's first released hand design, initially introduced at ICRA 2013. the four underactuated fingers are differentially coupled through a floating pulley tree, allowing for equal force output on all finger contacts.

Based on our lab's work with iRobot and Harvard on the iHY hand, which won the DARPA ARM program, the Model O replicates the hand topology common to several commercial hands, including ones from Barrett, Robotiq, and Schunk (among others). A commercial version of this hand is currently for sale by RightHand Robotics... (homepage)

The L2 incremental encoder uses US Digital's proven EM1 optical encoder module and disk, which has billions of device-hours of dependable service in customer applications. This product continues US Digital's strong reputation for reliable, field-tested encoders. The L2 is US Digital's lowest height encoder that uses the EM1 module. It has a 0.75 in. bolt-spacing mount. The maximum resolution is 1250 CPR (5000 PPR with quadrature). The L2 comes with a single-ended output. Another benefit of the L2 incremental encoder is its fast installation. The cover snaps onto the base to secure the module. It is designed for use with a high-retention connector or cable (sold separately). Like all US Digital products, the L2 is designed and manufactured in Vancouver, Washington, USA. It is backed by prompt access to our technical and customer service teams with same-day shipping on most orders.

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