RUKA
  • Introduction
  • Hardware
    • Hardware Overview
    • Bill of Materials
    • 3D Print Parts
    • Heat Set Insert Tutorial + Assembly
    • Finger Assembly
    • Knuckle Assembly
    • Thumb Assembly
    • Power Supply and Wiring Harness Assembly
    • Test Motors and Set IDs
    • Motor Base Assembly
    • PTFE Tubes
    • Palm Assembly
    • Attach Wrist and Motorbase
    • Mount Pulleys
    • Friction Tape and Optional TPU Pads
    • Robot Arm Mounts
  • Software
    • Quick Start
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  • What is RUKA?
  • What's in this documentation?

Introduction

NextHardware Overview

Last updated 14 days ago

What is RUKA?

RUKA is an open-source robot hand for researchers, hobbyists, and anyone who wants to build it! All parts are either 3D printed or off-the-shelf.

Since RUKA is tendon-driven and has no joint encoders, fingertip and joint angle control is learned by putting a Manus motion capture glove onto RUKA and then mapping the position readings to the motor positions. A model is available for users without a Manus glove who cannot collect their own data.

What's in this documentation?

This documentation has two main sections:

  1. Hardware - this includes materials needed for RUKA and all the instructions for assembling the hand

Software - this covers the startup of the software for controlling the hand, and the documentation is also available on the git repository

If you have any questions or feedback, please join our or email us at

https://github.com/ruka-hand
Discord