Introduction

What is RUKA?

RUKA is an open-source robot hand for researchers, hobbiests, 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

2. 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

If you have any questions or want to contact us, please message us at [e-mail].