ATR Solutions · Robotics · Prototype

ATR Dexa

The tested finger in four human-like lengths plus a two-joint thumb. A printed spine carries the five servos, alternating front and back, so every red string runs straight up into the palm without touching another spool. The stand keeps it upright on the table, with room for the ESP32 and breadboard. Pick a gesture, or move each finger yourself.

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Gestures

Each finger (% closed)

What the full hand costs

6× MG90S servos (one spare)	$12–18
ESP32 board (drives all 5 servos)	$4–7
5 V 3 A power supply + screw adapter	$5–8
Braided line, 2 mm elastic, jumpers, breadboard	$6–10
PLA, about 330 g (palm and stand at 15 % infill)	~$7
All pins: 1.75 mm filament, no screws needed	$0
4 coins in the stand's pockets for extra weight	$0
Total	≈ $35–50

Every part shown is printable. The palm stands on its flat wrist to print, the spine and stand print flat, and the bones lie on their backs. Servo wires and the ESP32 aren't drawn; they sit on the stand. Checked in software for collisions, string paths and tipping (it only tips past about 22°).