How to make a remote controlled Robotic Hand with Arduino

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This is my school project for the 5th year of high school (I'm Italian, we have 5 years of high school).

It consists in an artificial hand controlled by a glove with flex sensors. The artificial hand reproduces the movements of the hand with the control glove, wirelessly. The hand and the glove works both with Arduino.

I just wanted to share my work for everyone interested :)

This guide is still in development, sorry if some parts are not clear, I'll put some 3D images in future.

I'm sharing something about my project on my facebook page:

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Step 1: Materials needed

Picture of Materials needed
I bought almost everything from, they have fair prices (I don't mean to advertise!)

Total cost: ABOUT 160$

The materials needed for the control glove are:

• an elastic glove;

• LilyPad Arduino board (there are different versions, which usually only have 4 analog inputs, so pay attention and buy the one in the image): it works exactly like the classic Arduino UNO, so you can use even an Arduino Nano, but pay attention to the voltage needed;

• XBee module: for the radio communication;

• Shield to connect the Xbee module;

• 5 Flex sensors;

• 5 resistors: 47 KΩ;

• battery pack with 3x1.5 V batteries (Lilypad can be powered from 2.7 to 5.5 V, so 4.5 V it's ok);

• LilyPad FTDI adapter: to connect the LilyPad board to the PC and load programs with the Arduino IDE (quite optional, because you can use also the Arduino UNO board removing the ATmega chip, but it's tricky to make this kind of connection every time).


The materials needed for the robotic hand are:

• a steel structure for the palm of the hand and wood for the fingers;

• Arduino UNO board;

• XBee module;

• 5 servomotors 5V powered (I used TowerPro SG90);

• a servomotor shield for Arduino UNO: to connect the servomotors I used the Robot_Shield from FuturaElettronica, which has also a switching regulator to power the entire circuit, but you can use any shield made for controlling servomotors. Link: ;

• Shield to connect the XBee module (I made an horrible one, but it's economic and I needed to make one small because of the size of the Robot_Shield);

• fishing wires;
• fihing sinkers (to secure the fishing wire);

• 9 V Battery.


Tools needed:

• angle grinder (mainly to cut wood and steel);
• axial grinder;
• welding machine (with electrodes);
• drill;
• soldering station and solder;
• electrician's scissors;
• pliers;
• heat shrink tubing.

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OJHAKKUNDAN10 hours ago

purchase best quality robotic products at best prices

mason101988 days ago

Hey! Remember me? I finally got my version finished after multiple glove designs (3rd time's the charm!) and a final hand construction. I'm about to upload a video of it to YouTube, I'll post a link on here in a little bit!

Gabry295 (author)  mason101988 days ago

Yeah!!! So everything works! Awesome :D

Here ya go everyone! Check out the video of my version!

Gabry295 (author)  mason101987 days ago

mason10198, you really made a GREAT work. Congratulations man, you made me feel so proud, also for having mentioned me on your video :D

I think now you can press the button "I Made it!" if you haven't done so yet :)

Farm3r10 days ago

Thank you Gabry.

Gabry295 (author)  Farm3r10 days ago

No problem! :)

Farm3r13 days ago

Hey Gabry, do you know where I can find and buy the adapter that was used or others, such as the one used in the materials?

Gabry295 (author)  Farm3r13 days ago

Hi Farm3r, you mean the FTDI adapter right? I bought it from but you can find it also on or :)

Hey Gabry

Do you know where i can buy flex sensors cheaper than 30 dollars? :)

Gabry295 (author)  cr3at1vem1nds14 days ago

Hi, I only know about I tried to look for somthing cheaper but I couldn't find anything

You mean 30 dollars for all five sensor right?

BrianB1520 days ago

Hi im sorry from taking up your time but i was really intrested in your project and was wondering where i can buy the........gosh forgive me i dont know the name, the green board with the yellow circle covered with coil that connects the servo motors to the arduino unit.

thankyou for your time and look forward to your response :0

Gabry295 (author)  BrianB1519 days ago
ZacharyM321 days ago

Hi gabry i was wondering if you could give me the link to all the items used for the glove


MisterSwat2 months ago

Hi gabry .. i really thank you for your great idea about the robotic hand also for the good explaination

but i wonder if you can tell us more about making the robotic hand because i want to make it 3D printed .. and i want to know how to connect the servos to the hand exactly

waiting for your response and many thanks for you :)

Gabry295 (author)  MisterSwat26 days ago

Hi, what do you exactly want to know more? :)

Rufi2 months ago

It's awesome buddy, i have an issue here ..

How can i connect Arduino UNO with Robot shield? and Is 9 V battery enough for Robotics hand??

Gabry295 (author)  Rufi26 days ago

The Robot_Shield is installed on the Arduino UNO by the pin connections. A 9V battery is enough but you need to buy a Rechargeable type or alcaline, like Energizer or Duracell (cheap batteries usually didn't work for me).

sugavana1 month ago
Can you tell me some other model of a shield which works exactly like the one from FuturaElettronica
Gabry295 (author)  sugavana26 days ago
sugavana1 month ago
Are both the xbee modules the same???
Gabry295 (author)  sugavana26 days ago

Yes, the XBee modules have to be the same

Farm3r1 month ago

Hey, I am having trouble locating what and where the materials needed to build the robotic hand and glove. Could you send a image of all materials names and where you bought them from?

Gabry295 (author)  Farm3r26 days ago

Hi, I bought everything looking on eBay for the cheapest parts, and on and for the other parts. Try to search by looking at the name of the parts I wrote on the first page

sugavana28 days ago

is it a 47 k ohm or 4.7 k ohm?

Gabry295 (author)  sugavana26 days ago

It's 47KOhm (the video has an error, I'm sorry)

mattgraham27 days ago

Is this shield ( compatible with the Arduino Uno R3? It says compatible with the "Original Arduino Uno."

Gabry295 (author)  mattgraham26 days ago

Yes it is :)

AyushM126 days ago

Hi Gabry and

which one to use and i'm a bit confused how to connect a xbee module to lilypad arduino main board please message or mail me all the step by step instructions at or u can contact me at

please contact me ASAP

wijdan20-rc1 month ago

how much time the lilypad spends time to upload the code ??

Gabry295 (author)  wijdan20-rc1 month ago

Hi, the LilyPad require just few seconds to upload the code :) If you are having trouble and it take too much itme try to change the board type on the settings!


Gabry295 (author)  robotics master1 month ago

Sorry man! Here is where are the clamps

20140618_171521 - Copia.jpg
sugavana1 month ago
Hi Gabry, awesome project. Can you just send me the link of where you got the lilypad ftdi adapter from?
Gabry295 (author)  sugavana1 month ago

Hi sugavana, thank you for the appreciation! :D

Here is an example:

I suggest you to try to search "FTDI" on eBay or Amazon. I bought it from Amazon but took a month to arrive :/ eBay usually have less shipping time, anyway this is also a valid option:

sugavana1 month ago
Hey Gabry, can you send me the link of where you bought the lilypad adapter. BTW awesome project

hey please do answer these doubts-

there are a few lilypad xbee in for 4 and 5 dollars.can i trust(they're from china)

please exactly mention where you have connected the 9v battery in the shield.exactly please.

if i am changing the servo motor shield how should the PCB to it change

where to connect all the wires to lilypad xbee .in your circuit diagram you only showed connecting wires to the xbee

Gabry295 (author)  robotics master1 month ago

1) If them are from China, I think you'll have to wait a lot for them, and I don't know if they are insured. Try to find someone who sell possibly near from you, and don't trust too low prices, ususally those boards are "clones", and even if they have the same functioning I think are less reliable;

2) I connect the 9V battery on the clamps of the shield, but if you are planning to not to use that shield then you have to connect the 9V battary on the 12V female jack of the Arduino UNO;

3) sorry I didn't understand the question :/

4) you're right, but see the notes on the first image at step 2, you have to connect the battery to the "+" and "-" and the other two wires to the "Rx" and "Tx".

wijdan20-rc2 months ago

how can i make a robotics hand ???

Gabry295 (author)  wijdan20-rc1 month ago

Sorry, your question is a bit too general :/ you can go through the steps and see the building process and ask me any doubt :)

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