Mia Hand is a self-contained robotic hand with all functional components (actuators, sensors and control electronics) embedded in the palm and fingers. The three available actuators allow to interact with the environment and grasp objects designed for humans, covering the gestures used during 80% of the activities of daily living. The hand comes with a set of predefined routines and UART or RS485 communication interface to drastically simplify the integration process.

The Mia Hand is a 5-in-1 multi-grasp anthropomorphic gripper for multiple industrial scenarios including humanoid robotics. The Mia Hand is strong, reaching up to 150N of maximum grip strength.

The 5 Holds:

Cylindrical Grip

• The cylindrical grip is one of the most useful grips for everyday life, it allows you to hold objects such as bottles, glasses or cups.

Precision Grip

• The precision grip allows for gestures where full control of the action is essential. With this grip, you can hold a toothpick, pick up a flower , or move a piece on a chessboard.

Side Grip

• The side grip is very useful for all those daily actions such as holding a spoon, placing the ATM on the reader or giving your business card to a customer.

Extended Index Finger

• Pointing up or extended index finger  is the gesture of raising the index finger, this allows, for example, to ring a bell or to type keys on the screen of a smartphone. 

Flexed Index Finger

• The pointing down or flexed index finger  is the movement of the index finger that lowers, in this position the finger can be used to type keys on the keyboard or press a generic button.

Features of the Mia Hand

• Weight > 520 g
• Max size > 140 x 135 x 190 mm
• Max grasp force > 44 to 140 N
• Degrees of actuation/freedom > 3/4
• Closing time > 0.4 s
• Power supply > From 9V @ 6A peak to 24V @ 2.5A peak
• Pre-settable grasps > 5
• PID controllers > Position, speed, force* (1 kHz)
• Position sensors (digital) > 3 (0.1 deg)
• Motor current sensors (analog) > 3 (1 mA, 10 bits)
• Limit switches (digital) > 6
• Force sensors (analog)* > 3 (~50 mN, 10 bits)

The small size and weight make Mia Hand the perfect tool for humanoid robotics, industrial automation, ergonomics, human-machine interfaces and prosthetics. Its robustness allows it to be used in unsupervised scenarios in longitudinal studies.