DIY Robotic Hand

The basic components of the hand are the servos, the Arty platform, the glove, and the flex sensors.The glove is built with flex sensors that have variable resistors that change their resistance value when bent. They're attached to one side of a voltage divider with resistors of a constant value on the other side. The Arty Platform 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.

Step 1: Make the DIY Flexing/pressing Sensors

Flex/Pressing sensors are a resistive devices that can decrease their resistance in proportion to the amount its bent in either direction.

We use this sensors to communicate between the glove and the robotic hand.

That's all the components that you need:

-Thin Copper strips - 0.5mm

-Electroconductive ESD bags

-Wires - 10-15 cm long

-Tape

-Soldering iron

All the steps that you'll need to do the sensors are described in the video.

https://www.youtube.com/watch?v=QbHFS0TpEV4&feature=youtu.be

Step 2: Construct the Hand

In this step we'll build the hand.

We used a 3D printed hand, which we have printed at Printelier Timisoara (Thank's).

The important parts of the hand it can be downloaded from: http://inmoov.blogspot.ro/

We also need fishing wire and screws (20x4mm, 14x2.5mm, 3x8mm).

Steps:

-Use the long bolts to fix the starting part of the fingers and to attach the forearm

-Take the wire and thread a finger and fix it with bolts.

-The inflexible parts of the fingers was fixed with tape.

-Fix the servos motors to the hand. We used this motors: http://store.digilentinc.com/gws-servo-s03txf-std/

-Connect the white wire of the servos to the Arty hardware

More detailed steps are avalaible on this link:

https://www.youtube.com/watch?v=dnKGy4BblMs&feature=youtu.be