Fin Gripper (Robotic/Prosthetic Hybrid) - Mark VI

thingiverse

The Mark VI Fin Gripper - Black Ram Hand was designed to harness the power of the Fin Ray Effect, giving wearers the ability to grasp soft or oddly shaped items that rigid claws or fingers cannot hold. Each Fin Grip finger must be printed with a flexible material; I chose Ninja Flex for this project. Since my printer can't handle flexible filaments, I ordered the parts from 3D Hubs. The filament should have a Shore A hardness of between 60-80, but the 85 Duro sample was still slightly stiff. The hand is powered by wrist motion and requires enough palm space to push against it. It converts wrist rotation into a linear sliding motion that activates the end gripper. When the wrist bends down, the slider pulls back, closing the hand; when straightened, the slider pushes forward and opens it. As seen in the images, the fingers flex around objects before holding them in place. There are two versions: a 2-finger "pincer" and a 3-finger "Tri-claw." To print this design: * Print 14 bolts * Use 10 nuts * Create three Fingrips in flexible filament or resin (60-80 Duro - Shore A) * Make three hinges * Produce one of each remaining part If the parts don't fit perfectly, lightly sand them with a file to loosen them. The Black Ram Hand was designed as an assistive technology tool and platform for creating custom manipulators tailored to individual tasks. It's meant to help those with missing fingers or conditions like Dupuytren's Contracture by providing a versatile and adaptable solution.