低成本开源机械手可精准复现全部52个手语字母
Low-Cost Open-Source Ambidextrous Robotic Hand with 23 Direct-Drive servos for American Sign Language Alphabet
- 23个直驱舵机实现手指与手腕精确控制
- 实测52个手语动作准确率96.97%，演示后达98.78%
- 开源设计适合残障辅助与教育场景
无障碍沟通对聋哑人群至关重要，但现有机器人方案成本高且功能受限。本文提出VulcanV3，一款低成本、开源、3D打印的双面通用机械手，可完整复现52个美式手语（ASL）字母（左右手各26种）。系统采用23个直驱舵机驱动，通过Arduino Mega配合双PCA9685模块控制，实现全手语覆盖。与多数拟人上肢系统不同，该设计采用直驱驱动并支持双向使用。所有CAD文件与代码均以宽松开源许可发布，便于复制。实证测试确认所有52个手语动作均可准确再现，参与者实验（n=33）识别准确率达96.97%，经视频演示后提升至98.78%。VulcanV3在成本、手语完整性与双面通用性方面实现突破，为辅助技术与包容性创新提供开放平台。
原文摘要 · Abstract (English)
Accessible communication through sign language is vital for deaf communities, 1 yet robotic solutions are often costly and limited. This study presents VulcanV3, a low- 2 cost, open-source, 3D-printed ambidextrous robotic hand capable of reproducing the full 3 American Sign Language (ASL) alphabet (52 signs for right- and left-hand configurations). 4 The system employs 23 direct-drive servo actuators for precise finger and wrist movements, 5 controlled by an Arduino Mega with dual PCA9685 modules. Unlike most humanoid upper- 6 limb systems, which rarely employ direct-drive actuation, VulcanV3 achieves complete ASL 7 coverage with a reversible design. All CAD files and code are released under permissive 8 open-source licenses to enable replication. Empirical tests confirmed accurate reproduction 9 of all 52 ASL handshapes, while a participant study (n = 33) achieved 96.97% recognition 10 accuracy, improving to 98.78% after video demonstration. VulcanV3 advances assistive 11 robotics by combining affordability, full ASL coverage, and ambidexterity in an openly 12 shared platform, contributing to accessible communication technologies and inclusive 13 innovation.
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