Quantity   Component name
1 × HerkuleX DRS201. Servo motor (torque 24 Kg/cm)
1 × Arduino Micro. Micro-controller.
1 × Surface electromyography sensing kit. Low cost kit from Advancer Technologies for EMG based control.
1 × Plexiglas sheet (width: 4 mm, 2 mm). 1 sheet per width (400 x 600 mm).
1 × Silicone sheets (width: 4 mm, 5 mm, 6 mm). 200 mm per width for flexure joints.
5 × Deep v-groove (1.2 mm) 3 x 12 x 4 mm sealed pulley rail ball bearings. For tendon routing system.
1 × Various Nuts, Sockets, Rods, Washers & Fasteners. More details can be found in the assembly guide.
4 × Springs For the construction of the buttons of the differential mechanism.
1 × Dyneema fishing line (0.4 mm). Our design is tendon driven.
1 × Nylon fishing line (0.4 mm). To stich silicone sheets onto the rigid parts.
8 × Low friction tubes. Cotton swabs for tendon routing.
1 × Rubber slicing tape. To increase friction coefficient at fingertips.
1 × Antislip tape. To increase friction coefficient at fingertips.
1 × Deformable sponge-like tape. To increase compliance at the fingertips, enlarging the contact patches during grasping.
1 × 12V Battery Lithium battery To power the motor and the electronics.
1 × ABS filament 3mm (1kg) To 3D print the different parts.
1 × Self-Adhesive tape For the EMG sensors.
1 × Velcro tape (~1.5 m) For fastening the body powered actuation system on the user's arm.
1 × Wooden Dowel For implementing the pins of the joints of the body powered actuation system.
1 × Arm Sleeve For the body powered actuation system.