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