Hardware and software of a 3D printed humanoid hand

Creating low-cost and completely functional humanoid hand that meets individual needs and applications in prosthetics or robotics is still a challenge. This paper presents the development of an innovative 3D printed humanoid hand with modular fingers. This approach makes it possible to reduce the cost by taking advantage of the creation of complex shapes and individual sizes of the fingers. The software and hardware implementation of the modules is described. A control system has been designed that allows adjustment and control of the positions of fingers of different sizes and joint constraints. A 3D printed prototype is created. The hardware and software are tested. Main functional capabilities of the hand are studied.