Cyborg X Hand (Cyborg Beast Remix)

thingiverse

**Edited on 06JUN18 - I created a new version of the gauntlet that uses the 5 pin tensioner system. I have started using metal bead wire for increased long term durability and this wire doesn't work well with a whipple tree system.** **Edited on 09APR18 - I made minor updates / improvements to the palm and completely replaced the gauntlet with a sleeker design that uses thermoforming for better fit on the forearm and a whipple-tree for the fingers in what I now call the Cyborg X Mark 2.** This is my updated version of the Cyborg Beast Hand. I am not trying to take credit for the brilliant design by Jorge Zuniga and his research group at Creighton University. I simply made some updates utilizing elements from other hands such as a thermoforming gauntlet and new flexible filament material. Despite the Cyborg Beast being considered an outdated design, I find it requested very often by my e-Nable recipients. I think this has a lot to do with the overall look of the hand. Kids like the metallic hardware of the design and enjoy the fact that they have a robot hand. I stay in touch with my recipients and have received some valuable design feedback that led to what I feel are improvements. To that end, I updated the palm to get rid of the Velcro attachments and now the design incorporates a screwed-in palm mesh that should be made from a flexible filament like TPU. This closely follows the design of the newer Phoenix V2 hands. I also cleaned up the base STL a little and added small brackets over the tendon line grooves to ensure the tendon lines stay within the grooves. The Gauntlet received the biggest change. I keep receiving feedback from the field that a leather bracer cuff, like the one used on the Osprey, is the most comfortable design. With this in mind, I completely replaced the gauntlet. The bracer is now a thermo-form design that utilizes a leather cuff and two nylon straps to secure the gauntlet to the forearm. Also, I incorporated the whipple tree design for more responsive finger closures. Feedback from my recipients has shown this is a significant improvement over Velcro. Also, since I didn't make any changes in how the palm connects, the original gauntlet design will work with the updated palm for those not comfortable making a thermoform gauntlet or leather cuff. One important note is that the gauntlet and palm should be sized separately. There is no one-to-one correlation on the scale needed for the palm and bracer. If the palm needs to be scaled 135%, the bracer will likely not need to be scaled up that much. I recommend measuring across the top of the forearm to determine the scaling need for the bracer. I plan on continuing to tinker with this design and update as I make changes. I think my next major update will be to modify this design into a purely nylon tendons for opening and closing the fingers in an effort to do away with the need for elastic opening lines.