Development of algorithms for controlling a 3D printed humanoid hand

In the implementation of this project, a 3D printed model of a robotic humanoid hand built on a modular principle was created.

Photo of the created 3D printed prototype of a humanoid hand.

Modular fingers and hand elements.

Control software and an example of gripping an object by the robotic humanoid hand.

The following scientific articles have been published on the topic:

1. Naydenov B., Chavdarov, I., Georgiev I., Nikolov V., Controlling Finger Movements of a 3D Printed Humanoid Hand to Grasp Cylindrical and Spherical Objects, International Conference on Computer Systems and Technologies (CompSysTech), Ruse, Bulgaria, 2025, pp. 1-6, doi: 10.1109/CompSysTech65493.2025.11136903, https://ieeexplore.ieee.org/document/11136903

2. Chavdarov I., Naydenov B., Yochev S., An Approach for Designing 3D-Printed Assembled Rotational Joints and Assemblies for Mechanisms and Robot Models,Technologies 2025, 13 (10), 436; https://doi.org/10.3390/technologies13100436

The dissertation of Ivaylo Robertov Georgiev with the award, of the educational and scientific degree "Doctor", in the professional field 5.1. Mechanical Engineering with a scientific specialty 02.01.52 - "Robots and Manipulators" with Scientific Supervisor: Prof. Dr. Ivan Chavdarov has been completed.

Dissertation topic: Design and control of a 3D printed humanoid hand

Diploma №/date: 001786/07.01.2026; link in NACID:

The dissertation abstract can be downloaded here:

The dissertation can be downloaded here:

Demonstration Videos:

Demonstration of finger movements:

Constructing a finger with 3D printing technology:

 

GitHub: 3D-printed-humanoid-hand

Algorithms for controlling the hand-created model have been published on GitHub; Files with 3D models of all elements intended for printing on a 3D printer; Assembly instructions; Photos, etc.

Photos from the presentation of Ivaylo Georgiev's dissertation: