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 ( 

The hand itself comes from an open-source, 3D-printable download. It's part of a project called InMoov: (

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
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, 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:
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:

1x small breadboard
1x battery connector - something like this:
Breadboard jumpers/hookup wire
1x small blank PCB - I used something like this, only square:

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:

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!

sir one prob i dont know what is the range of my sensor its 2.2

and my servo rotet 20' whithout stop

Like the rotation range? I think most are somewhere around 180 degrees, but I'm not sure exactly

how much matirial use in 3d printing? plz and i can use 3 kg torque motor?

dschurman (author)  trupesh.rupareliya8 days ago

I'm not exactly sure how much material it was, but if you're printing the entire thing including all the forearm parts, it's a decent amount. And those motors should work.

thanks bro

Sorry for asking but I've looking for the arduino codes for the glove but I couldn't find it. Could you tell me where are they or send it to me? Thanks.

tuyi1 month ago

hey man I'm not getting this parts


can you help with it pls

dschurman (author)  tuyi1 month ago
They should be attached to step 2
But robpart4V2.stl is not there
I found one but this
Is not there
dschurman (author) 1 month ago
Oh, I think that was my mistake. It should be robpart4V3. You don't even need it though, because it's just a cover and if you want to save printing time it's not necessary for functionality.
tuyi1 month ago

hey man I'm not getting this parts


can you help with it pls

tuyi1 month ago

hey man I'm not getting this parts


can you help with it pls

tuyi1 month ago

hey man I'm not getting this parts


can you help with it pls

tuyi1 month ago

hey man I'm not getting this parts


can you help with it pls

ShifatShuvo1 month ago
I'm having a problem with the servo circuit diagram
dschurman (author)  ShifatShuvo1 month ago

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)  ShifatShuvo1 month ago
The same as the negative side of the battery
dschurman (author)  ShifatShuvo1 month 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

I'm not being able to find these parts


ShifatShuvo1 month ago
Can you pls give a diagram like the sensor's one
HemanthS11 month ago

can u give me the program??

dschurman (author)  HemanthS11 month ago

It's attached to step 6

lyes47421 month 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)  lyes47421 month ago

Yes, one is fine

dcostales1 month 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)  dcostales1 month ago
Of course you can! Good luck!
sandmoud2 months 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)  sandmoud2 months 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.

JediDude62052 months ago

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

dschurman (author)  JediDude62052 months 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


JediDude62052 months ago

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.

RaviJ13 months ago


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