TAKTO ONE is an open source hand exoskeleton with VR digital twin
A German master's student built TAKTO ONE, an open source hand exoskeleton with 10 motors, muscle sensors, and VR simulation software that can record and playback finger movements.
Summary
Sebastian Molano developed TAKTO ONE as his master's thesis at Anhalt University of Applied Sciences. The wearable device uses cable-driven motors to actuate finger joints, with control via a Teensy 4.1 board and feedback from magnetic encoders, IMUs, and a MyoWare 2.0 EMG sensor. The accompanying software includes a VR-ready digital twin and movement recording for playback, with applications in assistive movement and motor learning. Build files are available on GitHub.
Hardware and software architecture
- Actuation: 10 Dynamixel XC330 servos drive cable "tendons" for four fingers and thumb, with two actuated joints per digit (final version; prototype is more limited)
- Control: Teensy 4.1 development board manages motors through a servo bus
- Sensing: Magnetic encoders for position feedback, IMUs, and MyoWare 2.0 EMG system for muscle activity detection
- Interface: Integrated round LCD for status and metrics display
- Software suite: Includes VR-capable digital twin simulation and multiple control schemes
- Movement modes: Passive finger movement, movement assistance based on detected user intent, and record/playback of motion sequences
Why it matters
The fully open source release of hardware files and software lowers the barrier for researchers and makers to experiment with assistive robotics and motor learning interfaces, a field typically dominated by proprietary lab equipment.
Original reference: www.hackster.io →