Robotic Hand With Wireless Glove Controlled | NRF24L01+ | Arduino

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Introduction: Robotic Hand With Wireless Glove Controlled | NRF24L01+ | Arduino

For more project and tutorial visit my YouTube channel Mert Arduino and Raspberry Pi

In this video; 3D robot hand assembly, servo control, flex sensor control, wireless control with nRF24L01, Arduino receiver and transmitter source code are available. In short, in this project we will learn how to control a robot hand with a wireless glove.

Step 1: Video Tutorial

With this tutorial video you can see the robotic arm assembly and more. I added a video because some parts of the robotic arm assembly are very detailed.

Step 2: Required Hardware and Tools

Required Hardware

2x Arduino Board (Nano) -- http://bit.ly/2HaRyrj

2x nRF24L01+ Transceiver -- http://bit.ly/2sCG7nd

2x nRF24L01+ Adapter -- http://bit.ly/2soia3t

5x MG996R Servo -- http://bit.ly/2kDLHlm

5x 4.5 Inch Flex Sensor -- http://bit.ly/2J3hfQp

5x 10k Resistor -- http://bit.ly/2xuM6jC

2x 18650 3.7V Battery -- http://bit.ly/2LNZQcl

1x 18650 Battery Holder -- http://bit.ly/2LihW5c

1x 9V Battery -- https://goo.gl/xaD6Tf

1x 9V Battery Connector -- https://goo.gl/fLjKL7

1x Glove -- http://bit.ly/2xA6sYx

1x String / Braid Line -- https://goo.gl/EhSdXM

3x Mini Breadboard -- http://bit.ly/2J5hqL5

Jumper Wires -- http://bit.ly/2J6de9E

1x Rubber / Tire or Spring

1x Steel Wire or Filament

3x Bolt ( 8mm diameter)

Required Tools (Optional)

Electronic Drill + Dremel Tool -- http://bit.ly/2Li7NFF

Anet A8 3D Printer -- http://bit.ly/2J18Ahn

PLA 22M 1.75mm Red Filament -- https://goo.gl/35MSfn

Hot Glue Gun -- https://goo.gl/2znyr6

Cable Ties -- https://goo.gl/8FbDzU

Super Fast Adhesive -- https://goo.gl/aGnizS

Screwdriver Wallet Set -- https://goo.gl/i75Au5

Adjustable Solder -- https://goo.gl/2oZhtu

Soldering Stand -- https://goo.gl/2n8gds

Solder Wire -- https://goo.gl/FC7W6o

Heat Shrink Tube -- https://goo.gl/j2xcVf

Wire Cable Cutter -- https://goo.gl/b96G4X

PCB Board -- https://goo.gl/D1so5j

Screws Nuts Assortment Kit --https://goo.gl/EzxHyj

Step 3: 3D Models of the Hand and Forearm

The hand is part of an open-source project called InMoov. It's a 3D-printable robot, and this is just the hand and forearm assembly.

For more information, visit the official InMoov website. You can visit the "Assembly Sketches" and "Assembly Help" pages in the InMoov website for more details on assembly.

Thanks to InMoov -- http://inmoov.fr/ - http://inmoov.fr/hand-and-forarm/

Anet A8 3D Printer is used in this project. Models were printed at the lowest qulity.

All 3D parts used in this project

Step 4: Assembly of Parts

Assembly of robotic arm parts is very detailed and complex, so you can visit the "Assembly Sketches" and "Assembly Help" pages in the InMoov website for more details on assembly. it is explained very thoroughly on the InMoov website. Or you can watch the video I shared.

http://www.inmoov.fr/assembly-sketchs/

http://inmoov.fr/hand-and-forarm/

Consider this suggestion for the correct finger angle:

When assembling the fingers, make sure the parts are oriented correctly before gluing. Keep all servo motors at 10 or 170 degrees before attaching the servo pulleys to the servo motors. When mounting the servo pulleys, keep fingers in the closed or opened position (according to your servo angles). Then wrap around the servo pulley until the braid wires or strings becomes stretched.

Step 5: Connections of Hand (Receiver)

  • At this point, the servos should already be mounted into the forearm. To connect them to the power supply and Arduino, you can use a small breadboard.
  • Remember to connect the negative on the breadboard to the Arduino's GND. All the GNDs in a circuit need to be connected for it to work.
  • I recommend using the power adapter for the nRF24L01+ module. Otherwise, communication may be broken due to insufficient current.
  • If you encounter the these problems: vibration in servo motors, servo motors not working, communication breakdown and in similar situations, supply your Arduino board with external power (like USB).
  • If you used different pins than pins shown in below, change them in codes.
  • Connections of the Servo Motors:

Servo-1 connect to the analog 01 (A1) of the Arduino.

Servo-2 connect to the analog 02 (A2) of the Arduino.

Servo-3 connect to the analog 03 (A3) of the Arduino.

Servo-4 connect to the analog 04 (A4) of the Arduino.

Servo-5 connect to the analog 05 (A5) of the Arduino.

  • Connections of the nRF24L01 Module:

VCC connect to the +5V of the Arduino.

GND connect to the GND of the Arduino.

CE connect to the digital 9 pin of the Arduino.

CSN connect to the digital 10 pin of the Arduino.

SCK connect to the digital 13 pin of the Arduino.

MOSI connect to the digital 11 pin of the Arduino.

MISO connect to the digital 12 pin of the Arduino.

Step 6: Connections of the Glove (Transmitter)

  • The flex sensors require a circuit in order for them to be compatible with Arduino. Flex sensors are variable resistors, so I recommend using a voltage divider. I used 10K resistor.
  • The main GND (ground) wire connected to all individual GND wires from the sensors, gets connected to the GND of the Arduino. The +5 V from the Arduino goes to the main positive voltage wire. The wire from each flex sensor is connected to a separate analog input pin via the voltage divider.
  • I soldered the circuit onto a small PCB, one that could be easily mounted onto the glove.You can build the circuit on the small breadboard instead of the PCB.
  • You can use 9V battery for circuit of the glove.
  • If you used different pins than pins shown in below, change them in codes.
  • Connections of the flex sensors:

Flex-1 connect to the analog 01 (A1) of the Arduino.

Flex-2 connect to the analog 02 (A2) of the Arduino.

Flex-3 connect to the analog 03 (A3) of the Arduino.

Flex-4 connect to the analog 04 (A4) of the Arduino.

Flex-5 connect to the analog 05 (A5) of the Arduino.

  • Connections of the nRF24L01 Module:

VCC connect to the +5V of the Arduino.

GND connect to the GND of the Arduino.

CE connect to the digital 9 pin of the Arduino.

CSN connect to the digital 10 pin of the Arduino.

SCK connect to the digital 13 pin of the Arduino.

MOSI connect to the digital 11 pin of the Arduino.

MISO connect to the digital 12 pin of the Arduino.

Step 7: Source Code of the Project

For the source code to work correctly, follow the recommendations:


  • Download the RF24.h library and move it to the Arduino libraries folder. https://github.com/maniacbug/RF24
  • After the flex sensors are connected o the glove, read and note the minimum and maximum values that each flex sensor has detected.
  • Then enter these values into the transmitter (glove) code.
  • Keep all servo motors at 10 or 170 degrees before attaching the servo pulleys to the servo motors.
  • When mounting the servo pulleys, keep fingers in the closed or opened position (according to your servo positions).
  • Then wrap around the servo pulley until the braid wires becomes stretched.
  • Move all the fingers to the closed and opened position by checking the servo motors one by one.
  • Then get the best angles for servo motors (servo angles while fingers closed and opened).
  • Enter the servo motors angles and flex sensor values to the transmitter code as follows.

flex sensor min. value, flex sensor max. value, servo min. angle, servo max. angle

(flex_val = map (flex_val, 630, 730, 10, 170);

  • There is only one change in the receiver source code. Which flex sensor in the transmitter will control which servo motor in the receiver? For example, msg[0] sends the data of the x sensor-5. If you want to control the servo motor-5 with the flex sensor-5, you can do this by typing 'servo-5.write(msg[0])'.
  • If you used different pins than pins shown in circuit, change them in both codes.

I know it's a little complex the last part, but please do not forget: there is no hard! You can do it! Just think, research, trust yourself and try.

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    7 Discussions

    I need some help regarding this project. Can you help me please?

    Hey Mert This project is awesome. can u tell me that is there a website through which we can get online printed material just like jlc pcb

    1 reply

    //Receiver Code (Hand) - Mert Arduino and Tech

    #include <Servo.h> //the library which helps us to control the servo motor

    #include <SPI.h> //the communication interface with the modem

    #include "RF24.h" //the library which helps us to control the radio modem

    //define the servo name

    Servo myServo1;

    Servo myServo3;

    Servo myServo4;

    Servo myServo2;

    Servo myServo5;

    RF24 radio(9,10); /*This object represents a modem connected to the Arduino.

    Arguments 9 and 10 are a digital pin numbers to which signals

    CE and CSN are connected.*/

    const uint64_t pipe = 0xE8E8F0F0E1LL; //the address of the modem,that will receive data from the Arduino.

    int msg[5];

    void setup(){

    //define the servo input pins

    myServo1.attach(15); //A1

    myServo2.attach(16); //A2

    myServo3.attach(17); //A3

    myServo4.attach(18); //A4

    myServo5.attach(19); //A5

    radio.begin(); //it activates the modem.

    radio.openReadingPipe(1, pipe); //determines the address of our modem which receive data.

    radio.startListening(); //enable receiving data via modem

    }

    void loop(){

    if(radio.available()){

    bool done = false;

    while (!done){

    done = radio.read(msg, sizeof(msg));

    myServo1.write(msg[2]); //A1

    myServo2.write(msg[4]); //A2

    myServo3.write(msg[3]); //A3

    myServo4.write(msg[1]); //A4

    myServo5.write(msg[0]); //A5

    }

    }

    }

    in this code there is an error in the line which is in bold letters how to solve that

    How much is the total cost of this hand?