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This seems cool: up to 4.5kg grasp load (though very much depending on grasp), seems like it has passive/mechanical backdrivable joints, and active stiffness control. Seems much, much more like a human hand than most things I have seen. Implemented in part via a low-backlash, low-damping reducer; which is... show more

Chris Paxton

37,603 subscribers

20,012 просмотров • 21 дней назад •via X (Twitter)

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Комментарии: 7

Фото профиля Kaleb

Kaleb21 дней назад

The MCP joint doesn't move/it can't spread its fingers apart or bring them closer. A huge design failure.

Фото профиля Pawan

Pawan21 дней назад

yeah, this is pretty damn interesting.

Фото профиля Muhammad Ahmed

Muhammad Ahmed21 дней назад

The reducer detail is what caught my eye. Measured breakaway torque and hysteresis would help show how readily the fingers yield and complement the grasp-load figure.

Фото профиля Didier Vançon

Didier Vançon20 дней назад

I invite you to take a look at this new French biomechanical hand, the UM1-Evo .

Фото профиля Scarlett Huo

Scarlett Huo21 дней назад

Engineering wise, I guess micro motors and motors are quite different. Do you think Unitree has an in-house team specifically targeting dexterous hand design? Or this is OEM'd.

Фото профиля Joseph AgroTechie

Joseph AgroTechie21 дней назад

Good analysis on the mechanics. The part nobody mentions: Unitree can hit $6.5K because they own their supply chain and production scale. That manufacturing base is the moat, not any single design.

Фото профиля Nick K

Nick K21 дней назад

Ehhh... I'd say it's actually straying a bit far from a human hand. The kinematic config is kinda strange. It takes the leap/wuji hand kinematic chain of adduction after proximal joints for the 4 fingers, with a weird 3 DoF serial-spherical joint in the base of the thumb.

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much smoother after applying a low pass Butterworth filter with a 3hz cutoff. this filters out high frequency small movements (aka noise) in the trajectory, it also naturally attenuates the signal so makes the robot move slower, I’ve added a bit of gain back to compensate and speed it up again after the filtering. still a bit jiggly, mainly in the shoulder pan but it seems to be mostly mechanical at this point

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