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• Manipulating Kitchen Objects 1

  Vittorio Lumare • 3 hours ago • 0 comments

  Manipulating some kitchen objects:

  • a glass
  • a cup
  • a bottle
  • a kitchen tray

• Teleop Glove

  Vittorio Lumare • 09/16/2026 at 14:25 • 0 comments

  I made a teleop glove to control the yeah hand.

  It includes a bend sensors to control the closure/opening of the finger.

  To change the gesture, I just keep fullly open for 1 sec.

  Next step : improve reliability with moving median filter, this is the code:

  // Median filter implementation
  int medianFilter(int newValue) {
    const size_t SIZE = 13;
    static int values[SIZE] = { 0 };  // Odd number for median (3,5,7)
    static int index = 0;
  
    // Add new value
    values[index] = newValue;
    index = (index + 1) % SIZE;
  
    // Sort and get median
    int temp[SIZE];
    memcpy(temp, values, sizeof(temp));
  
    // Simple bubble sort for small arrays
    for (int i = 0; i < SIZE - 1; i++) {
      for (int j = i + 1; j < SIZE; j++) {
        if (temp[i] > temp[j]) {
          int swap = temp[i];
          temp[i] = temp[j];
          temp[j] = swap;
        }
      }
    }
  
    return temp[2];  // Return middle value
  }
  

   Current video is shown here: 

• Grasping Showcase 1

  Vittorio Lumare • 09/16/2026 at 13:12 • 0 comments

  The low cost robotic hand project continues.

  The Yeah Hand grasping some objects. I am using a bend sensor to control the closure of the fingers.

  The adaptive behavior and the grasp strength are show here.

  The pinch grasp is not well controlled, I have to improve the bend sensor signal conditioning (C++) and the interfacing (electronics).

  The next time I will filter it with a median average filter, and I will improve the dynamics by designing a new board with different design, low pass filter and a better choice of the resistance value.

  At the moment the sensor is picking up much noise from the power supply and ambient electromagnetic interference

• New Assembly Instructions and firmware

  Vittorio Lumare • 09/01/2026 at 10:58 • 0 comments

  The assembly instruction have been updated:

  • The method to attach the tendons to the thumb flexion spool changed

  • The document translation was improved, more respectful of the CE Regulation terminology.
  • The illustrations now are better, translated directly on the ODT format.

  The firmware was updated accordingly. Pinch grasp is more stable.

• Updated firmware

  Vittorio Lumare • 08/16/2026 at 20:36 • 0 comments

  Firmware updated: better BT serial commands reception.

  Now the firmware can receive more robustly the messages from ROS.

  I improved the function by keeping just the last position received, but the other ros params are received and processed fully.

  This way no parameter set is lost, but the hand only cares on the last position sent without lagging due to the buffered queue.

  On the firmware repo.

• Updated ROS Driver

  Vittorio Lumare • 08/16/2026 at 20:33 • 0 comments

  We added a new feature to the ros driver: the 'load_limit' parameter, to set the maximum limit for the torque of a specific servomotor.

  Usage example (setting load limit for the index servomotor):

  
  

  ros2 param set /yeah_hand_system load_limit index_servo_joint.load_limit 500

  
  

  Code on Github repo.

• ROS Driver Released

  Vittorio Lumare • 07/19/2026 at 13:02 • 0 comments

  Added ROS Driver !!!!

  https://github.com/opsobot/yeah_hand_ros
  
  
  
  

• Assembly Instructions Updated !!

  Vittorio Lumare • 06/28/2026 at 14:03 • 0 comments

  The Assembly and Operating instructions, in english language, have been updated!

  
  
  

  
  

  PDF on Github: https://github.com/opsobot/yeah-hand/tree/main/docs

  Please download them to assembly the hand!

• Mounting Flanges

  Vittorio Lumare • 05/16/2026 at 13:22 • 0 comments

  Hi all, we finally completed 4 flanges for mounting the Yeah Hand on cobots and robotric arms.

  The flanges standards are:

  • ISO-9409-1-50-4-M6 (Universal Robots, Fanuc, KUKA, Techman, Yaskawa)
  • ISO-9409-1-40-4-M6
  • PCD-40-4-M5
  • PCD-40-4-M6

• Power Plug Passage

  Vittorio Lumare • 05/07/2026 at 19:23 • 0 comments

  The Skeleton base has been modified to make room for the Power Plug.

  
  3D Printed Parts:
  
  
  

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