*UPDATE* Just wanted to add a bit of how posting this Instructable has positively impacted me. Besides the wonderful reception and feedback I received in the contests and the success it has had in the contests it helped me define my interests. I've always loved robotics and prosthetics (and similar helpful devices) is a new interesting and beneficial application for it. Posting this project got me involved in a prosthetics research team and we may even be using this exact arm, or one similar, for testing. Thanks all!

Do you live with only one hand, or ever feel two just isn't enough? Well now you can make another! This project combines two very cool things: an arduino voice recognition shield and an open-source 3D printed robotics project called InMoov. Basically what I've done is modify the InMoov hand/forearm to be usable as a prosthetic (or additional appendage) and add a VR (voice recognition) shield to receive verbal commands and then make corresponding motions with the hand. The advantage of voice control is that it doesn't require muscles and is more flexible to different physical conditions (also hands free!). My program includes 15 general hand gestures and actions for everyday living! When I was looking into myoelectric arms kept thinking that the functionality wasn't worth the thousands of dollars. While mine isn't as fancy as some it's remarkable what you can create with desktop 3D printers, an arduino, and servos! I think the coolest part is the customization: the printed parts can be scaled to make an accurate prosthetic for anyone. Although this project can look intimidating, the entire time taken (if you work on the electronics while parts are printing) is about 14 hours! See it in action! (If embed doesn't work try the link HERE)

Step 1: Parts

Parts: (Cost will be about ~120 dollars)
Arduino Uno
EasyVR Shield
5 x Servo Motors (either a HK15298 or an MG995 variant - anything with these size specs will work)
14 x 2.5mm (or 3mm) bolts (20mm long)
1 x 8mm bolt (55mm long)
1 x 8mm bolt (80mm long)
1 x 8mm bolt (60mm long)
1 x 9V Batteries and Connector
6 - 7.4V Battery and Charger (this drives the 5 servos, so be sure it has high current output ~2-3 Amps. I used this)
Fishing Line (any will do, but for more strength buy Spiderwire or Spectra fiber fishing wire so it won't strech)

3D Printer
Super Glue (I used 'krazy glue' because I printed in PLA, for ABS use acetone)
Soldering Iron
Screw Driver

<p>I also used this app</p><p><a href="https://play.google.com/store/apps/details?id=robotspace.simplelabs.amr_voice" rel="nofollow">https://play.google.com/store/apps/details?id=robo...</a></p><p>You have to pair first your phone or tablet with the HC-05 and then work like a charm.The code is 1234</p>
<p>Hello to everyone.I made it but with some changes.I use HC-05 bluetooth module to control the robot hand.I upload the code if someone want to make it.Have a nice day to all :) </p><p>String readvoice;</p><p>#include &lt;Servo.h&gt; </p><p>Servo SERVO_1; </p><p>Servo SERVO_2;</p><p>Servo SERVO_3; </p><p>Servo SERVO_4;</p><p>Servo SERVO_5; </p><p>void setup() {</p><p> Serial.begin(9600); </p><p> SERVO_1.attach(8); </p><p> SERVO_2.attach (7);</p><p> SERVO_3.attach(6);</p><p> SERVO_4.attach(5);</p><p> SERVO_5.attach(4);</p><p>}</p><p>void loop() {</p><p> while (Serial.available()) { //Check if there is an available byte to read</p><p> delay(10); //Delay added to make thing stable</p><p> char c = Serial.read(); //Conduct a serial read</p><p> readvoice += c; //build the string- &quot;forward&quot;, &quot;reverse&quot;, &quot;left&quot; and &quot;right&quot;</p><p> }</p><p> if (readvoice.length() &gt; 0) {</p><p> Serial.println(readvoice);</p><p> if (readvoice == &quot;OneHand&quot;)</p><p> {</p><p> SERVO_1.write(180);</p><p> delay(100);</p><p> }</p><p> else if (readvoice == &quot;SecondHand&quot;)</p><p> {</p><p> SERVO_1.write(0);</p><p> SERVO_2.write(180);</p><p> delay(100);</p><p> }</p><p> else if (readvoice == &quot;ThirdHand&quot;)</p><p> {</p><p> SERVO_1.write(0);</p><p> SERVO_2.write(0);</p><p> SERVO_3.write(180);</p><p> delay(100);</p><p> }</p><p> else if (readvoice == &quot;FourthHand&quot;)</p><p> {</p><p> SERVO_1.write(0);</p><p> SERVO_2.write(0);</p><p> SERVO_3.write(0);</p><p> SERVO_4.write(180);</p><p> delay(100);</p><p> }</p><p> else if (readvoice == &quot;FiveHand&quot;)</p><p> {</p><p> SERVO_1.write(0);</p><p> SERVO_2.write(0);</p><p> SERVO_3.write(0);</p><p> SERVO_4.write(0);</p><p> SERVO_5.write(180);</p><p> delay(100);</p><p> }</p><p> else if (readvoice == &quot;ReleaseHand&quot;)</p><p> {</p><p> SERVO_1.write(0);</p><p> SERVO_2.write(0);</p><p> SERVO_3.write(0);</p><p> SERVO_4.write(0);</p><p> SERVO_5.write(0);</p><p> delay(100);</p><p> }</p><p> readvoice = &quot;&quot;;</p><p> }</p><p>}</p>
Hi, there&acute;s a problem when downloading the VoiceRobot.txt, it says &quot;Server Error&quot;. Please help ! :/
<p>With old instructions, this project was definitely a challenge for me. The Inmoov website has updated and so have the EasyVR/Arduino softwares. When all was said and done, it was pretty neat. Personally, it took more time (and more money) than the instructions say. Overall, I am glad that I did it.</p>
<p>can you please help me? Im struggling with this :(</p>
Thanks dear for this tutorial
Where do you get the small bolts from? I can't find them anywhere&gt; Please help. I am desperate. Thank you
<p>can you please email me the exact date that you published this article to this site . I need it for a bibliography for a competition. you can email me at alea.darrow@s.demingps.org</p>
<p>can i use, like, Raspberry Pi instead of Arduino? </p>
<p>hi which easier we have to use</p><p> EasyVR 2.0 or EasyVR 3.0</p>
<p>im going with 3.0, since the program interface looks pretty neat, and easier to use than 2.0. Don't listen to me anyway. I'd used 2 in a very short time, and then changed to 3 for a long time, so that experience might be only mine. why dont you try both of them?</p>
<p>Hi, (btw love the work) I'm creating a similar design but instead of an Arduino Uno and EasyVR 2.0, Im working with an Arduino RedBoard and EasyVR 3.0. When Im uploading the codes, I seem to run across a lot of unsolvable errors. Will the codes provided work with a 3.0? Or chould I just order a 2.0? Thanks!</p>
<p>Do i have to print the pieces in inches millimeters or centimeters since i don't have a 3d printer and i am gonna use 3d hub so someone local to me can print it and then ship it too me</p>
<p>So I'm trying to build this and I've already assembled the hand but I'm having programming issues. Any advice?</p>
<p>Hi! amazing</p><p>one thing I've been searching the documents to print but someones had changed the name can you out the documents like the lasts two please thaks</p>
<p>WELL DONE! REALLY GOOD PROJECT and I have a question. Can we try this without esyvr shield? I mean Can I try this with a HC06 bluetooh module and a smart phone.İf it is possible, how? Could you suggest me about that? thanks :)</p>
<p>this project Pertenece a inmoov?</p>
I want do it,plz help me! <br> I've loved this project please help me I want to display it at My University Please reply to email : miraalzoubi@gmail.com
<p>hey did you modify the servos for continuos rotation?? thanks in advance !!</p>
<p>as a disabled veteran, and partial hand and partial foot amputee, I wish I had access to a 3D printer... just so I could obtain the fingers (left hand) for the purpose of trying to create a much better, and useable prosthetic, based on a fingerless glove.. so i could slip it on for very simple body powered prosthetic fingers.. I have varying lengths of residual fingers remaining (I hate the word &quot;stumps&quot;) on my left hand.. But no means of building fingers that look good, and which can connect together. everything else, such as modifying them to connect to my fingers should be something I may be able to do myself. either as a body powered setup, or very likely using RC micro servo's to cause the fingers to close. The proper method would be to use the pressure sensitive and flexible film on the inside of a socket that senses pressure, and causes the servo to move in that direction.. and the amount of pressure on the sensor would dictate the speed of the finger operation in either open or close. if needed, run everything through an Arduino or Raspberry Pi (which I am not yet familiar with) mounted to the wrist, along with a LiPo battery. </p><p>all which would cost more than I can afford... but fingers sure would be a nice start to try to work on something for much better mobility..</p>
<p>Weaponeer - you might want to look into this: </p><p><a href="http://enablingthefuture.org/" rel="nofollow">http://enablingthefuture.org/</a></p>
<p>where is the circuit diagram?</p>
<p>First of all, this project is amazing and not very difficult to make. Unfortunately I need help in one thing: </p><p>I have built the hand and did all the wiring it all looks perfect, trained the VRShield but when i give any command nothing happens it doesn't even blink or anything. Appreciate your response ASAP. </p><p>PS: you can use the new IDE version to solve the error you showed.</p>
<p>this is the error it is giving please reply with a solution soon i have very less days remaining.........</p>
<p>buddy im facing problem to upload the txt file.....plz help me i have bought all the equipments needed even i have downloaded the 0023 but in that also it is giving error of NEW SERIAL SOFT(12,13);</p><p>THIS IS THE ERROR IT IS GIVING</p><p>plzz help me on my email pavanyadav216@gmail.com</p><p>im waiting for ur answer............................</p>
<p>Good work indeed. keep posting please.</p>
<p>its cool. pretty cool indeed. and its really helpfull for people who really need. helping by making such awesome project is great event. </p>
<p>Hi. I looked throught the parts, however there was no &lt;robpart1.stl&gt; for the stl files. Could you advise me on where I could find this? Thank you.</p>
can u plz add a video in hand assembling !!!!!<br>
<p>That is really helpful. Great job. :)</p>
<p>The video appears to be shot using stop-action animation. Could we see how the fingers are made to operate in real time? </p>
<p>awesome project. One of the best project in instructables, keep it up.</p>
<p>Hey! i worked at one of the biggest prostheses company in germany on the topiv of myoprothesis control and electronics, and i have to say: your arm is really impressive! cool idea and keep up the great work!</p>
Really cool stuff man.
I'm missing my left arm at the elbow. Is this completed item available for sale? <br>Thanks, Ron
Ey man ! :) thats a very very cool useful amazing gamechanging project u have done ! Can u please tell me where do i get the blue prints & list of parts & tools required ? :) By the way i'm now a fan of u ! I voting this project !
why the pdf can not download free..?? <br>
Question: do you have to put some kind of spring or whatever so that it would un-flex ?
Actually the fishing line runs on both sides of these 'hinges' in the finger and hand design so the motor turns one way to curl them and then the other way to straighten them out. Hope that helps!
impressive project!
Thanks :)
as a useful idea, you could look up some techniques for making a latex rubber &quot;skin&quot; for the hand/forearm. Here's an ibble that should allow you to make a thin foam latex skin on the cheap! <br> <br>https://www.instructables.com/id/Using-gelatin-for-moulds-and-prosthetics/ <br> <br>Why not try it out and post an update pic here if you decide to do it?
Very cool! I'll look into it.
AMAZING!!!!!! PATENT THIS!!!!! <br> <br>I don't know if you know--or care!!!--but the cost for a basic lo tech prosthetic leg is about 17000$ USD--thus putting it out of reach for MOST of the world. There is NO good reason for that! And a leg is SO much lower tech than an arm--- <br> <br>My latest faux leg has a hydraulic ankle and cost something like 22000$. And this is STILL pretty lo-tech and basic. A &quot;C Leg&quot; costs something like 60000$ or more. <br> <br>I don't even want to THINK of how much a bio-compataible ARM might cost. And a lot of arm amputees won;t wear the ones they have--they are not comfortable and don't DO what they claim they do. This one on the other hand---um---well---- <br> <br>If you are serious about the whole 3-D printing thing--hows about 3-D printing the entire BODY POART for trasnplant? Yeah--I know--it is being done veeeeeeerrrryyyy slooooooly--but some one who could &quot;Jump Start&quot; this---Well sign ME up for the first test! After all---what MORE do I have to lose??? <br> <br>
I'm glad you have such an interest! Hah your suggestions are wonderful but even better than patenting I'm giving the blue prints on how to make your own!
That is so awesome!!!
Great project I love that you added the stl files
Great project. I've been attempting to build my own variation of a robotic hand control, and I stumbled upon this instructable and you showed me InMoov... My high school even has a 3D printer, which is awesome. Thank you, and keep up the great work!
Wonderful job! You are very talented and your heart is in the right place! I know I will see more great projects from you in the future!

About This Instructable




Bio: I hope to help people with the things I make.
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