DELTAHANDS is a synergistic dexterous hand framework that utilizes soft Delta robots. For more information on DELTAHANDS, please see our paper or the website.
Arduino code includes low-level actuator PID control and communication between the microcontroller and the control pc.
Python code includes Delta robots' and hands' kinematics and communication between the micro-controller and the control pc.
A URDF generator to generate Delta hand models.
A PyBullet simulation environment for manipulation.
Teleoperation based on leap motion camera.
DELTAHANDS is licensed under MIT license.
If you use DELTAHANDS in your research, please cite:
@article{si2023deltahands,
title={DELTAHANDS: A Synergistic Dexterous Hand Framework Based on Delta Robots},
author={Si, Zilin and Zhang, Kevin and Kroemer, Oliver and Temel, F Zeynep},
journal={arXiv preprint arXiv:2310.05266},
year={2023}
}