DIY Prosthetic Hand & Forearm (Voice Controlled)

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*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)

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where is the circuit diagram?

toomaj23 days ago

First of all, this project is amazing and not very difficult to make. Unfortunately I need help in one thing:

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.

PS: you can use the new IDE version to solve the error you showed.

weaponeer2 months ago

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 "stumps") 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.

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..

AbhishekY2 months ago

this is the error it is giving please reply with a solution soon i have very less days remaining.........

AbhishekY2 months ago

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);


plzz help me on my email

im waiting for ur answer............................

goldenshuttle3 months ago

Good work indeed. keep posting please.

psycho.maggot5 months ago

its cool. pretty cool indeed. and its really helpfull for people who really need. helping by making such awesome project is great event.

MuhammadZ25 months ago

Hi. I looked throught the parts, however there was no <robpart1.stl> for the stl files. Could you advise me on where I could find this? Thank you.

bdonga7 months ago
can u plz add a video in hand assembling !!!!!
dreamzrush8 months ago

That is really helpful. Great job. :)

The video appears to be shot using stop-action animation. Could we see how the fingers are made to operate in real time?

makesomeso1 year ago

awesome project. One of the best project in instructables, keep it up.

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!

LucasOchoa1 year ago
Really cool stuff man.
I'm missing my left arm at the elbow. Is this completed item available for sale?
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 !
sagar09111 year ago
why the pdf can not download free..??
Question: do you have to put some kind of spring or whatever so that it would un-flex ?
Mizchief100 (author)  johnmeljohn1 year ago
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!
Mizchief100 (author)  andrea biffi1 year ago
Thanks :)
as a useful idea, you could look up some techniques for making a latex rubber "skin" for the hand/forearm. Here's an ibble that should allow you to make a thin foam latex skin on the cheap!

Why not try it out and post an update pic here if you decide to do it?
Mizchief100 (author)  EngineerJakit1 year ago
Very cool! I'll look into it.

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---

My latest faux leg has a hydraulic ankle and cost something like 22000$. And this is STILL pretty lo-tech and basic. A "C Leg" costs something like 60000$ or more.

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----

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 "Jump Start" this---Well sign ME up for the first test! After all---what MORE do I have to lose???

Mizchief100 (author)  valkgurl1 year ago
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!
teknohawk1 year ago
That is so awesome!!!
nerd74731 year ago
Great project I love that you added the stl files
dschurman1 year ago
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!
How much would that cost
Interesting in building this or at least trying to... But 3d printers cost to much
Mizchief100 (author)  -shadowbot-1 year ago
You could try using a 3D printing company who will print parts for you. Check out Shapeways.
Anyway to get the parts without a 3d printer
jwc45201 year ago
Well Done Sir, Many years ago (1970's) I studied Bio-medics in college, without the aid of such wonderful things as a 3-d printer or even the arduino. Please continue on the path of designing such things as there are many in need. Now we do have the technology to rebuild those in such need.
kooth1 year ago
Excellent Instructables! Well-done! Your explanations are easy to follow, as are your pictures. Once I get a 3D printer, I'll give this one a try!
Mizchief100 (author)  kooth1 year ago
Awesome, if you do please feel free to post pics or give me some feedback! Hope it all works well :)
I only have one arm and I'm keen on it :-) Nice idea! Greetings from Berlin…
Mizchief100 (author)  eve_everywhere1 year ago
Glad you liked it!
That is awesome!
sath021 year ago
Wonderful work!
Can I stop by to see it in action? I'm in Chicago too!
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