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!
GoldPhive5 days ago

where does the battery connect?

dschurman (author)  GoldPhive4 days ago
The battery connects to the rails in the breadboard that you attached the servos to
MattA4 made it!16 days ago

ok forget all i said, it works i got it going with 1 sensor and 1 servo just now which i got for a test :)

its so responsive, i wouldnt have thought it would be so responsive but it is

the cheapo servo i got does nonstop chattering and gets pretty warm if i leave it connected for too long but thats ok it, it only cost $3 from ebay

dschurman (author)  MattA415 days ago
I'm glad it's working! I was actually surprised at the responsiveness too, the sensors seem to work very well.
MattA416 days ago

when i go to upload i get this error

Found programmer: "B'j"; type =

Software Version = . ; Hardware Version = .

avrdude: error: buffered memory access not supported. Maybe it isn't a butterfly/AVR109 but a AVR910 device?

MattA420 days ago

ok so i have the parts and im trying to figure out how to wire the servers to the arduino

you have a rough diagram showing how the servos r connected to the arduino which looks like it goes to the analog inputs and then u have another diagram which clearly shows the flex sensors going to the analog inputs with a voltage divider

does the flex sensor go in series with the servo signal wire? i dont understand how they connect together

dschurman (author)  MattA420 days ago
The sensors are plugged in to the arduino's input pins, but the servos are plugged in to the output pins. The signal wire of each servo goes into a separate output pin, the ones with the small squiggles next to them. The output pins are the ones at the top when you hold the arduino with the logo/lettering facing the correct way.

ur talking about the pwm outputs

thankyou much

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

and my servo rotet 20' whithout stop

dschurman (author)  trupesh.rupareliya1 month ago
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.rupareliya1 month 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.

tuyi2 months ago

hey man I'm not getting this parts


can you help with it pls

dschurman (author)  tuyi2 months ago
They should be attached to step 2
But robpart4V2.stl is not there
I found one but this
Is not there
dschurman (author) 2 months 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.
tuyi2 months ago

hey man I'm not getting this parts


can you help with it pls

tuyi2 months ago

hey man I'm not getting this parts


can you help with it pls

tuyi2 months ago

hey man I'm not getting this parts


can you help with it pls

tuyi2 months ago

hey man I'm not getting this parts


can you help with it pls

ShifatShuvo2 months ago
I'm having a problem with the servo circuit diagram
dschurman (author)  ShifatShuvo2 months 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)  ShifatShuvo2 months ago
The same as the negative side of the battery
dschurman (author)  ShifatShuvo2 months 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


ShifatShuvo2 months ago
Can you pls give a diagram like the sensor's one
HemanthS12 months ago

can u give me the program??

dschurman (author)  HemanthS12 months ago

It's attached to step 6

ahmed_salman2 months ago
lyes47422 months 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)  lyes47422 months ago

Yes, one is fine

dcostales2 months 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)  dcostales2 months ago
Of course you can! Good luck!
sandmoud3 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'

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