Android Fingers

4 DOF Fingers now available

Only $55 each unassembled or $110 assembled

You may wonder why a plastic finger costs $55. It's because I can't afford to have them produced using injection molding. Why? Because the molds cost at least $1000 each and I need a minimum of 4 molds to produce the 20 different parts. I cast all parts by hand and it takes about 3 hours to produce the parts for one finger and file them down into proper shape. Assembly takes about 3 hours too.

**** Palm & Wrist NOT available yet ****

*** Choose your shipping option here ***

*** Finger dimensions are here ***

Finger color - any color you want, just send me an email to let me know what color you want. We have red, green, blue, black, yellow, and white (cream)

Default color scheme is Tip = RED, Middle = YELLOW, proximal = GREEN, knuckle = WHITE. This is so you can match the cables to the corresponding finger segment.

****** 10 Finger order from Taiwan ******

Assembly note: assembly includes drilling holes, sanding or filing parts, gluing cable guides, crimping cables, etc. and will take 2 to 3 hours for each finger.

Lynn in Thailand has built a hand using 3 of our fingers.

Little fingers: Each finger consist of 13 segments

Little fingers available now.

Unassembled kit - $55 per finger	Assembled finger - $110 per finger

Index (Medium) Fingers: Each finger consist of 13 segments

Medium sized fingers available now.

Unassembled kit - $55 per finger	Assembled finger - $110 per finger

Thumbs: Each finger consist of 13 segments

Large sized fingers (thumb size) available now.

Unassembled kit - $55 per finger	Assembled finger - $110 per finger

Completed medium finger looks like this:

Each 4 degree of Freedom finger will include:

13 bone segments
9 cable guides
7 Monofilament cables (colored 20 pound test fishing line)
10 screws (2 extras)
6 nuts, 6 washers (2 extras)
1 simple mounting bracket (8 parts)
Directions for assembly are here

Finger tip segment

3 bone segments
1 cable
Total = 4 parts

Medial segment

4 bone segments
2 cables
2 cable crimps
2 cable guides
4 screws
2 washers
Total = 16 parts

Proximal segment

4 bone segments
2 cables
2 cable crimps
5 cable guides
4 screws
2 washers
Total = 19 parts

Knuckle segment

2 bone segments
2 cables
3 cable guides
2 screws
4 nuts
Total = 13 parts

Mounting bracket

2 Aluminum bars
2 screws
2 nuts
2 washers
Total = 8 parts

Grand total = 60 parts per finger

Directions for assembly are here

<= finger kits ready to ship out

Suggested finger size combinations:

Female Hand

4 Small fingers
1 Medium finger (thumb)

Male Hand

4 Medium fingers
1 Large finger (thumb)

Brass Tensioning Turnbuckles - $4 each

Minimum order of 3 due to Paypal fees & Postage

You will soon discover (if you haven't already) that controlling the tension on the finger cables is rather difficult. But I have found some small turnbuckles which will allow you to adjust the tension easily.

Dimensions: 1" = 25mm closed; 1.4" = 35 mm max open; weight = 2 gm = 0.07 oz.

SHIPPING & INSURANCE

*** Several fingers can be shipped in one package ***

USA priority mail - shipping & Insurance - $10

Canada, UK, Germany, HK - shipping & Insurance - $25

Fed Ex or UPS - shipping & Insurance - $100

MOVIES of a finger in action

Distal parts

Medial & Proximal parts

Hand nearly done

Servo mount for the hand with 20 servos and a total of 232 parts.

Finger Dimensions & Flexibility

In the following table, dimensions are in millimeters and rotation capabilities are given in degrees.

                                           Flexibility
                                        -------------------
Finger segment    Small  Medium  Large  Up  Down  Side-2-side
Distal (outer)                          90    90      0
  overall length    26     30     35
  tip to pivot      20     24     28
  width min         11     10     12
  width max         14     13     17
  height min         9      8     12
  height max        12     12     16

Medial                                   5    85      0
  overall length    38     45     54
  pivot to pivot    25     32     36
  width min         14     13     17
  width max         17     16     19
  height min        12     12     16
  height max        16     16     20

Proximal                                90    90      0
  overall length    57     67     65
  pivot to pivot    41     50     46
  width min         17     16     19
  width max         20     20     20
  height min        16     16     20
  height max        20     20     20

Knuckle                                  0     0     30
  overall length    36     36     36
  pivot to pivot    20     20     20
  width min         20     20     20
  width max         20     20     20
  height min        20     20     20
  height max        25     25     25

Whole finger
  overall length   113    133    139
  tip-pivot(prox)   85    105    111

Comments? Email me at crwillis@androidworld.com