Instructables

DIY Robotic Hand Controlled by a Glove and Arduino

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Picture of DIY Robotic Hand Controlled by a Glove and Arduino
This project idea came to me when I was sitting on a bed on a hotel room on vacation. I thought: "It'd be really neat to have a robotic hand that I can control with my own hand!" Upon returning home, I embarked upon a journey to design and create the project. I hope you enjoy!

The basic components of the hand and glove are the hand itself, the servos, the Arduino, the glove, and the flex sensors. The glove is mounted with flex sensors: variable resistors that change their value when bent. They're attached to one side of a voltage divider with resistors of a constant value on the other side. The Arduino reads the voltage change when the sensors are bent, and triggers the servos to move a proportional amount. The servos pull strings that act as tendons, allowing the fingers to move. Here's a video of it in action (http://m.youtube.com/watch?v=qMtHEOxHDGo): 

The hand itself comes from an open-source, 3D-printable download. It's part of a project called InMoov: http://inmoov.blogspot.com (http://www.inmoov.fr)

This guide will show you all the steps required to build your own robotic hand and control glove!
 
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Step 1: Gather the Materials

Picture of Gather the Materials
IMG_2746.jpg
In total, this project will cost about $100-150, depending on where you get some of the parts. Here's the parts list:

5x MG946R Servos (or equivalent - MG995 or MG996 should work too. I've had a bit of trouble with the range of motion, so servos that support more degrees of rotation would be better) - I got mine from hobbyking.com, but for a less expensive option I'd go with eBay (they come directly from China, so shipping may take longer).

5x 4.5 inch flex sensors - I got mine here: http://microcontrollershop.com/product_info.php?products_id=3802
1x Arduino Uno or equivalent (they're also much cheaper on eBay)
5x 22k resistors
1x 6.0-7.2V battery (for the servos) - I used this: http://www.all-battery.com/Tenergy7.2V3000mAhRCCarNiMHBatteryPackwithCharger-91103.aspx

1x small breadboard
1x battery connector - something like this: http://www.radioshack.com/product/index.jsp?productId=2103292
Breadboard jumpers/hookup wire
1x small blank PCB - I used something like this, only square: http://www.radioshack.com/product/index.jsp?productId=12516741

1x right hand glove (should be sturdy and fit well)
1x 8mm diameter 55mm long bolt
1x 8mm diameter 60mm long bolt
1x 8mm diameter 80mm long bolt
14x 3mm diameter about 20mm long screws
20x 4mm diameter screws (any length between 7mm and 30mm is fine)
Approx. 5 meters of string (should have a high-ish breaking strength) - I used this: http://www.amazon.com/gp/product/B004YWKPCS/ref=oh_details_o01_s00_i00?ie=UTF8&psc=1

Hot glue
Super glue
Sandpaper (I used 431 grit) - a Dremel tool with a sanding head would also work
Needle and thread

A power drill
A soldering iron
Access to a 3D printer

...And you're ready to start!
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bigshf1 year ago
This is awesome! You really gave me motive enough to study the whole Arduino technology. Thanks a lot mate and .. Congratulations!
Raphango1 year ago
Pretty wow dude!
Congratulations!
I'm having a problem with the servo circuit diagram
dschurman (author)  ShifatShuvoyesterday

What's the problem? And what do you mean by like the sensor's one?

Oh I'm actually a new starter so I am not understanding in which GND should I connect the servos
dschurman (author)  ShifatShuvo21 hours ago
So connect all the negative wires on the servos to the same breadboard rail, and plug in the ground from the battery and the ground from the arduino to that same rail
Can you pls give a diagram like the sensor's one
HemanthS12 days ago

can u give me the program??

dschurman (author)  HemanthS1yesterday

It's attached to step 6

lyes474211 days ago

very nice project... thank you for sharing , are you using a single arduino uno, i mean for sensors and servos one arduino uno is sufficient??

dschurman (author)  lyes474211 days ago

Yes, one is fine

dcostales14 days ago

I really really! like your work on this robot hand, would you mind if I use this for a project?. It really is a magnificent work of art and can possibly make improvements of the flex sensor even further. Awesome.

dschurman (author)  dcostales14 days ago
Of course you can! Good luck!
sandmoud23 days ago

hi nice work dschurman. The best thing is your detailed sharing. I am not a techie but could easily comprehend how it was made. I needed similar hand to handle my apparatus probes and small bottles at my work place and always thought it to be far difficult and complex thing. You made me realise that its possible.

How can we make it wireless?

thanks for sharing the 'intellect'

dschurman (author)  sandmoud22 days ago

There are numerous wireless module accessories for Arduino, all you'd have to do is get two of those along with another Arduino and modify the code so it'd work wirelessly.

Hi,

We are from Robofission Labs Pvt Ltd, Bangalore. We have an Arduino Robotic Hand kit for hobbyists. The cost of the DIY kit is Rs 6,000/- or 100USD (including courier charges). The robotic hand can be made PC controlled as well as remote controlled. The kit has all of the items necessary to build an Arduino Robotic Hand. The entire kit can be purchased on ebay.in at the following url

http://www.ebay.in/itm/5-DOF-Arduino-Robotic-Hand-/161469871351?pt=IN_Toys_Games_School_Stuff&hash=item25985ab4f7

Please feel free to contact us if you have any further queries or comments.

Regards

Krishna Bhargava A

Email - info@robofissionlabs.in

Contact - +919845175788

www.robofissionlabs.in

Hi,

We are from Robofission Labs Pvt Ltd, Bangalore. We have an Arduino Robotic Hand kit for hobbyists. The cost of the DIY kit is Rs 6,000/- or 100USD (including courier charges). The robotic hand can be made PC controlled as well as remote controlled. The kit has all of the items necessary to build an Arduino Robotic Hand. The entire kit can be purchased on ebay.in at the following url

http://www.ebay.in/itm/5-DOF-Arduino-Robotic-Hand-/161469871351?pt=IN_Toys_Games_School_Stuff&hash=item25985ab4f7

Please feel free to contact us if you have any further queries or comments.

Regards

Krishna Bhargava A

Email - info@robofissionlabs.in

Contact - +919845175788

www.robofissionlabs.in

Hi,

We are from Robofission Labs Pvt Ltd, Bangalore. We have an Arduino Robotic Hand kit for hobbyists. The cost of the DIY kit is Rs 6,000/- or 100USD (including courier charges). The robotic hand can be made PC controlled as well as remote controlled. The kit has all of the items necessary to build an Arduino Robotic Hand. The entire kit can be purchased on ebay.in at the following url

http://www.ebay.in/itm/5-DOF-Arduino-Robotic-Hand-/161469871351?pt=IN_Toys_Games_School_Stuff&hash=item25985ab4f7

Please feel free to contact us if you have any further queries or comments.

Regards

Krishna Bhargava A

Email - info@robofissionlabs.in

Contact - +919845175788

www.robofissionlabs.in

Hi,

We are from Robofission Labs Pvt Ltd, Bangalore. We have an Arduino Robotic Hand kit for hobbyists. The cost of the DIY kit is Rs 6,000/- or 100USD (including courier charges). The robotic hand can be made PC controlled as well as remote controlled. The kit has all of the items necessary to build an Arduino Robotic Hand. The entire kit can be purchased on ebay.in at the following url

http://www.ebay.in/itm/5-DOF-Arduino-Robotic-Hand-/161469871351?pt=IN_Toys_Games_School_Stuff&hash=item25985ab4f7

Please feel free to contact us if you have any further queries or comments.

Regards

Krishna Bhargava A

Email - info@robofissionlabs.in

Contact - +919845175788

www.robofissionlabs.in

How well does the thumb work on this project? can it grip things properly?

dschurman (author)  JediDude62051 month ago
In my case, the thumb worked, but not quite as well as the other fingers. I think one of the main reasons for this was just a tight fit with the bolt that connects it to the rest of the hand, so by widening the hole a bit it should move and be pulled by the servo more freely. Also, I would try putting some sort of putty or rubber on the fingers and palm to provide friction if you really want it to grip well.

I figured it out. The thumb of a human hand has three joints, not 2 like the ones inmoov has!

at least I think that might help

PLEASE ANYONE GIVE ME FULL CIRCUIT DIAGRAM AND WHERE TO TIE THE STRINGS

I see that there are many people who would like to down load this as a pdf. If you copy and paste the whole project into Google Docs (it will copy the pictures to) you should be able to download it as a pdf.

RaviJ12 months ago

thanks

VenkatN2 months ago

please give full circuit diagram to do this

dschurman (author)  VenkatN2 months ago
There's a diagram of the sensors in step 3, and a drawn diagram of the servo and breadboard connections in step 6
VenkatN2 months ago

please give full circuit diagram to do this

sarvesh72 months ago

I want to make this, but i am new to arduino. Can you please tell me which is the cheapest arduino I can use for this project from this link (or any other cheaper source. I cant spend that much): http://www.embeddedmarket.com/Products/Arduino-Board/ OR http://store.arduino.cc/category/11

dschurman (author)  sarvesh72 months ago

I'd say the Uno would be the best way to go. There are some on eBay from China that are around $10 USD, and that's the cheapest way I've found

Thnx. Should i buy arduino uno or arduino uno R3. I dont know any difference. I am getting confused with arduino uno, arduion uno R3, freeduino uno R3 clone and AVRduino pro (equavalent to arduino uno). Can you please tell me which to buy?

http://www.ebay.in/sch/i.html?_from=R40&_trksid=p2...

neuman.frank3 months ago

please can you tell me what the codes you use are. You can send me the link so i take a look at it.

Thanks

dschurman (author)  neuman.frank3 months ago
The Arduino code? It's attached in one of the steps, it's called "Hand.rtf"

Thanks I will look it up and get back to you .

myoung353 months ago
Thats awesome
nurkob723 months ago

Is there a program you have to download to get the servos to turn to the sensors?

EliasRobotics3 months ago

Hi!

Great project, I'm almost finished but I'm stuck at the part with the servos. Isn't a 180° motion too much? It almost breaks my robothand..

tsmith1306 months ago

So I have almost finished the glove, one small issue that I have come across is that the middle finger's flex sensor doesn't seem to be working, I tried a sweep program on the servo and the servo worked but the sensor doesn't seem to working. Any idea's? I have also ceck the soldering, in the mean time I will be replacing the wires to see if it is that too.

Thanks if you can help, if not, none the less thanks!

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