** THE CODE IS HERE ** THE CODE IS HERE ** THE CODE IS HERE ** Hi all, below is the code I wrote (with some useful comments) for the hand. There are several functions that are triggered by button presses. Any questions, let me know! Cheers, Pete. ======================================================= #include // Below are the 4 functions - mapped to 4 buttons: int buttonPinA = 13; // Open and close all fingers and thumb - quick grip int buttonPinB = 12; // Move each finger then thumb independently - // demonstrate dexterity int buttonPinC = 7; // Move multiple fingers at the same time, pointer and // thumb pinch, pinky and thumb pinch int buttonPinD = 2; // Open and close all fingers and thumb - sustained grip Servo myservo1; // Finger1(pinky) Servo myservo2; // Finger2 Servo myservo3; // Finger3 Servo myservo4; // Finger4(pointer) Servo myservo5; // Thumb(swivel up) Servo myservo6; // Thumb (close) int pos1 = 0; int pos2 = 0; int pos3 = 0; int pos4 = 0; void setup() { pinMode(buttonPinA, INPUT); pinMode(buttonPinB, INPUT); pinMode(buttonPinC, INPUT); pinMode(buttonPinD, INPUT);
+Peter Ohlmus Hey I know it's a little late but could you pleases show me how you connected the joints and give a more close up view. Like maybe some pictures or something. I'm doing this as a project for school and would really appreciate it, especially the thumb joint. Thanks My email is c4sualgam3r@gmail.com
Hi Michael, the code to move servos 180 degrees is actually pretty easy. There's plenty of websites and forums with examples, and the Arduino IDE has sample sketches that you can alter to suit your needs. If you're interested in the code, let me know and I can send it your way. Cheers!
Hi Chace. Yes, they're micro servos with a fair amount of torque although the plastic gear teeth can strip if there's too much force applied. Most of the servos are these ones from E-flite RC Helicopters: www.e-fliterc.com/Products/Default.aspx?ProdID=EFLRDS76 I didn't use flex sensors, only the arduino and quite a lot of fairly easy code that interprets button presses on a separate custom pcb. The fingers return to 'open' position by the black elastic on the top of the fingers that stretch across each knuckle. Thanks for taking a look.
Dear Peter, I bought 50% of the items today. I have one problem. For the knuckles/ hinges, I have this item ( upload.wikimedia.org/wikipedia/commons/9/9f/Tea_infuser_2.png ) but I don't know which part of that item I should take to use for the knuckles/ hinges. Can you show me a picture of how your hinges/ knuckles? where should i cut the metal etc. Regards, Salam
Hi Salam, wow - cool to hear you're making the hand! :) If you reply to this comment with your email address I will add you to my Dropbox folder which contains many pictures and an article on how to build the hand. Cheers!
Nice work Peter! Question: What are you using to make the fingers go back to the rest position? You have a dark thin material glued to the other side of each finger… Thanks.
Allabout Hh Thanks very much! The black material is elastic, cheap and effective for returning each segment to the open/rest position. You just need to play with it a bit until you get the right resistance, then glue it down. :)
Hi Peter, First, The project is very amazing, I love it. Fingers move it too quickly. I watched a lot of videos but I see a fast-moving fingers first time. it's very nice.:)) Secondly, If I want to do this project without the arduino, I can?(for thesis) :)) Thank you.
Hi Merv! Sorry for not replying sooner, and thanks very much for your kind comments. I don't think you would be able to do this project without the Arduino or a similar microcontroller, unless someone wrote the program for you and burnt it to a ROM on a chip, which was then used to control the servo's. There would be a lot more required to do this and get it working though. I'm hoping to release a kit in the next year or so that will have all the hardware and electronics needed to build and operate the hand (a more improved version) without any coding or soldering skills needed. Stay tuned! :)
Hi Caroline. I stretched the black elastic band pieces across each finger segment, and held each end in place with small alligator clips. Then, added a tiny drop of super glue to hold it there. When set, I tested/checked it had the right amount of flex, and if it was good I applied epoxy resin to the underneath of each end of black band. If it didn't feel right, the super glue bond was easily broken, allowing me to stretch it more or less and apply super glue again. Hope this helps!
Hello! I´m working on a similar project. Is the distance at which the servo is placed important? Or the lever arm is only given by the piece on the servo arrow? Thank you fo your support.
Hi Luis, I'm not sure exactly what you mean. But, the distance of the servo can be as far away as you want, as long as there is enough string/cord to join from the servo horn to the finger end. Hope that helps? :)
Hi Peter, First, great work and design. Could you tell me from finger tip to palm, the sizes that you cut for each section. Thanks would appreciate it. Cheers
Hi Ron, thanks. Each of the segments for each finger are quite different in size - modelled loosely on my own hand. If you're looking to make something similar, I'd suggest you measure each segment of each finger of your hand, to get a scaled model. Good luck!
Hi Caroline. The joints are from tea-infusers I bought at the local supermarket, like these: commons.wikimedia.org/wiki/File:Tea_infuser_2.png. I cut them about 10mm from the joint, then drilled a hole in the wood, inserted the cut end with epoxy. They work quite well and are pretty cheap. I've since found eyeglass/sunglass hinges are good as well and usually have a tighter tolerance. Thanks for taking a look!
Hi Peter, Best project! Question: -It's possible to adapt this project for using EMG signal to control servo motor? If yes, how can I do it? -In your project, have you use any sensor? Thank
+Paulin Alanmanou Hi Paulin, yes you can adapt this to use muscle sensors. Advancer tech make some good quality affordable ones here: www.advancertechnologies.com/p/shop_3.html I haven't yet used sensors like these in a project, but there's plenty of info out there on the internet. Good luck!
Oh and one more question, have you used the same hinges from top to bottom? (Meaning.. Would will these hinges be having same stiffness from top to bottom?)
I've recently purchased sunglass hinges from China that have a very, very smooth and precise action. They do not have any kind of spring to return the action to an initial state, but they are small and precise and very pleasing to both the feel and the eye! My next hand will utilise these hinges for the joints, and the new actuators for movement - which will remove any need for springs or elastic. They're pretty cool actually! :) Thanks for your interest!
Hi Ho. The black bands are just elastic from a haberdashery shop, like this but not as wide: www.fabric.com/buy/e-039/1-black-no-roll-elastic Thanks for taking a look! Cheers, Peter.
your proyect its amazing!! im making one for my school, what is the torque of the servos? i want to know how strong are they so i dont buy the wrong ones. thanks
Thanks Julian! Great to hear you're making one for your school - all the best. I used these E-flite servos as they're very reliable and have good torque: www.e-fliterc.com/Products/Default.aspx?ProdID=EFLRDS75H You might find cheaper Hitec ones that have the same or more torque though, or you could always buy more powerful servos, but they are usually expensive. Good luck, and contact me with any questions! :)
Hi IVYX, just letting you know that I found a Chinese supplier of Eyeglass hinges - quite inexpensive, and the hinges are precise and robust. May be useful on your next project, unless you have gone for a more organic/flexible approach www.tailiglassesparts.com/hinges-buy/4.0mm-wide-hinge-for-wood-sunglasses.html May your project be all that you want it to be! :)
Thanks a lot! these hinges look very nice ,I might buy theme but for now I am using bike chain links wich work well :-) Thanks again for the ideas ! :-)
How do you connect the servos to the Arduino? Do they need an extra battery to work or something? When I connect mine with a 9V battery connected to the Arduino, they don't move how they should. Any idea? Thanks :)
Thank you Mr peter for this interesting project We are working in our graduation project designing a haptic arm The idea is we were going to use a clipper as the end of the arm But after watching the video i proposed that why not use ur idea if u don't mind ? And if u don't i want to ask u about the finger design about the way it's bending ? And what marital did u use? And ofcourse the rope ,? Thanks ^^
Hi Malik, I don't mind at all! :) The materials used were 10mm wooden dowel for the fingers, strong black thread for the strings/tendons, black elastic for the tops of the fingers to act like a spring and hinged from cheap tea infusers for the knuckles. The palm is just a piece of pine wood and the servos are micro servos from Blade RC helicopters - reliable. Any more questions, just ask! Good luck with your project!
In between the top of the fingers (top of the hinge/knuckle) I used pieces of cut silicon tube. This provided a kind of cartilage to stop the finger segments bending back too far but also has a small amount of natural springiness.
Looking at the thumb, i see that ypu are using 2 servos for it, i see one driving a cord to contract the finger but i cant see how you are driving the rotation with the second servo. How are you doing this?
Good observation. The second servo pulls a string/cord that was anchored to the lower segment of the thumb assembly. It pulls in such a way as to rotate the entire thumb assembly up, then down. Hard to see, but is actually quite easy once you see where to anchor the string! :)
Hi Cody, congrats on the build. I have shared my code along with everything else using Dropbox - if you'd like to see all this content, please reply with your email and I'll share the Dropbox folder with you. Inside there's a file called 'Robot Hand Code' - funnily enough - that has all the code you need to open/close all fingers and the thumb. Cheers! :)
I'm curious...did you attempt any strength testing with this? I'm working on a similar project, and I was trying to figure out if the string design would hold up under stress.
+Matthew Spaziani Hi Matthew. I did more strength testing on the 2nd version, and ended up using strong braided fishing line - which have many ratings.
Hi! im a 10th grade student working with Ardinos for a programming and making class and want to do this for my final project (i think its super cool). I was wondering, did you just update the single servo code to incorporate multiple servos or type a different code entirely? Also, so you used push buttons, is that the easiest way to control the servos or would something like the flex sensor be easier to control it with. sorry for the dumb questions but its a new course and its tricky to go too far outside the box without getting stuck as every ones knowledge of the material is limited. thanks!
Hi Luda, thanks for the kind words! Your questions are not dumb at all. Ok, I copied the single servo code for each finger, or when a particular push button is pressed multiple servos for multiple fingers. Here is some sample code I used to 'close' all the fingers. Do the opposite to 'open' them: if(digitalRead(buttonPinA) == HIGH) { for(pos1 = 0, pos2 = 220; pos1 =0; pos1 += 1, pos2 -=1) { myservo1.write(pos1); // Finger1(pinky) myservo2.write(pos1); // Finger2 myservo3.write(pos1); // Finger3 myservo4.write(pos2); // Finger4(pointer) delay(2); if(pos1 = 130) { myservo6.write(pos2); // Thumb (close) } delay(5); }
Also, I found the push buttons the easiest method to control what I wanted to do as the code is what determined the rotation of the servo, didn't need a flex sensor for that. You could use flex sensors in a separate glove arrangement, but that would require more code. Good luck and have fun!
Peter Ohlmus, sir can u tell me what maximale mass can be supported by the upper and lower face of your HandRobot? ( 1kg? ...). Secondly i also want to know, if it just need 9V to be powered ?
Fofe Fofece Hi there. I don't know what the maximum supported mass would be - I'm sure it could be calculated using the specs of the servos and the materials I used - I'm thinking more like 500grams max. You could power the Arduino with 9V, but would need a 5-6V supply for all the servos. Thanks!
Fantstic The arduino part I can understand. What did you use for the finger? How did you hinge the didgets together so that they sprung back? Thank in advance for tips!
Thanks :) I used 10mm wooden dowel for the fingers and tea-infuser hinges for the knuckles. To get the fingers to spring back I used elastic. If you're interested, I can send you a bunch of information and pics - just send me your email and I'll send you the info. Cheers!
Hi Kay, I sent 2 emails to you on 15/07 to the following email address: k.wonderley@clubtelco.com. They were quite large though, so that may be why you didn't get them? Send me an email and I'll reply to you. Cheers!
Peter Great Project! How are the switches wired and what are their independent functions in regards to code execution? If I wanted to have all fingers close then open as you would count from 1-5, how would that code look? I would like to have a demo mode run and maybe have the children press a button to perform a predetermined function like a peace sign, thumbs up, hang loose, etc. Will you help or point me in the direction of some type of templet? We have the hand built, servos mounted, circuit built for separate power supply, but are confused on the code aspect. We also have mounted servos on both sides of board, the ones on the right need different rotation adjustments and or settings. How did yo overcome this? Thanks for you contribution and exciting our young (and old) minds!!
Hi Darryl, I'm more than happy to help you. If you send me a private message I will send you the code I wrote along with pictures and more info to get you going. Cheers! Peter.
The hinges are from tea-infusers I bought at the local supermarket. Chopped them out and bingo! That said, there were a few that were too loose or too tight, so had to go through approx 20 tea-infusers. But, they were cheap...
hello Peter, do you still have the schematic diagram of your project? we are interested on using your project as our school project this semester and we don't know how to connect the servos to the arduino. we are amazed with this project. thank you
+Krystel Liongco Hi Krystel, yes I have the schematic for the servos on their own circuit board as well as other pictures and information. I'm more than happy to email this to you, just send me an email: petethedreamer@gmail.com
Hello What is the system you used in the programming board Arduino Is is possible to use the plate test board and is a method of connecting wires Does using any type of servo motor.
Hi, there is a lot of helpful information available at the Arduino website and forums on the internet - I found so much help from people that had already created various projects. It depends on the systems you are using and the kinds of electronic devices you want to link to the Arduino. The Arduino itself can directly handle a few servos, but when you want to handle more than say 2 it's better to use a dedicated (and separately 5v powered) board to plug them into.
+Critical Expert I didn't use a shield as the arduino is capable of driving the servos. What I did use was a separate pcb board to plug all the servos into, which also had a DC jack for a separate 5v power supply to power the servos. A good thing to do as there wouldn't be enough power coming from the arduino itself. And I use 6 x servos, 4 for the 4 fingers and 2 for the thumb - 1 to swivel the whole thumb up and down, and the other 1 to close the thumb. Hope this helps :)
what are the mechanical equipment u have used for jointing the fingers? it would be a great help if u can tell me the models of those metal things in the finger.
Peter Ohlmus That would be incredible! I'd love to have a closer look at the thumb, and see how it's tendon/strings were arranged to allow the rotation/swiveling and the flexion of the thumb at the same time.
Hey Peter, if possible, I would like to get some advice from you for building these hands. I see that you have used the hinges here, so my question is, (if these hinges act as a torsional spring) what would be their stiffness from top to bottom. Any comments will be appreciated, thanks.
Hi Han Go-Eun (if that's correct?). The hinges are purely hinges, with elastic material (black in colour) added on top of the fingers to ensure the finger returns to an 'open' position. The more recent hand I made has spring loaded hinges, but unfortunately they are not very precise, so the fingers end up getting stuck during travel. Thanks for your question!
It's actually Dong Un, but that doesn't really matter ha ha. Well... I guess the elastic material acts as torsional springs here in your creation. Thanks for your reply hope you have a nice one ;)
Hang on.. You wouldn't happen to have different length for those elastic materials at the top of the fingers would you? Because shorter length will make the material have higher stiffness.
이동언 Hi Dong Un, yes that's true. I clamped the elastic to both parts of the fingers in various stretched positions to test how well the elastic returned the finger to the open position. Once I was happy, I cemented the ends of the elastic in place, then removed the small clamps. A simple approach, but it worked well. :)
Hi Peter, your work is really interesting! I'm developing the same project: in my case it's a myoelectric hand, but it's guided by 2 stepper motor. I'd like to ask you if you've tried also this kind of motor coupled with gear instead of cables, due to their precision.
Hi Giovanni. I've tried small stepper motors and although very precise, they just don't have the torque for everyday functions. I'm working on my third hand at the moment which is using gearmotors and a mechanical arrangement instead of cables/tendons. I'd be interested to see how your myoelectric hand progresses!
Could you tell me the model of the stepper motor you tested? I'm trying to use 2 Nema 11 HS12-0674S, with 6 Ncm torque, but with a future better arrangement, I think I'll use 1 of theese for thumb and another Nema 11 HS 20-0674S, with 12 Ncm torque, for the other 4 fingers. Could you give me your mail or your facebook contact? This way will be easier to communicate! And thank you for your reply!
Giovanni Zappatore Hi Giovanni, I used very small stepper motors - originally planned 1 for each 'knuckle' of a finger, however the wiring became quite messy and the torque was very poor - and that was one finger only! The Nema steppers you're planning to use seem very adequate, although quite big - but I suppose they fit your plan/design well. I'm here on facebook: facebook.com/peter.ohlmus
Hi Luis, the wood for the fingers is 10mm dowel. I bought 1m length and cut it to suit using a Dremel. The black colouration at the joints is where the Dremel disc basically started burning the wood during the cut. You can buy 10mm dowel (or similar) from your hardware store. Cheers!
mantaap MESIN UNDIP, sangat kreatif dan inovatif !!! teruslah berkarya dengan menciptakan karya yang berguna bagi masyarakat, negara hingga dunia !!! GOOD LUCK !!!
+Aaron Keith Hi Aaron, yes - if you used servos with more power and torque and say some heavy duty braided fishing line you could easily crush a pop can. You'd just want to keep an eye on the hinges and where the line is attached to the servos as they'd become weak points. :)
+Peter Ohlmus I have created a hand based on your work, without the servos. It is made out of milk jugs and paper clips for the joints, but I was wondering, do you use some sort of elastic material to bend the hand back?
+Aaron Keith Wow, sounds cool - how do you get the fingers to move without the servos? Yes, I used elastic like this www.supplydivision.com/flat-elastic/4-cord-3mm-black-elastic-200m-reel.html that you can buy quite easily (you obviously don't need 200 metres of it though :) ). Alternatively you can just use rubber bands.
+Peter Ohlmus I used a motor, and I have since used an elastic band on the thumb to see if it would work, which it did. So the motor takes it to the closed position, while the rubber band takes it back to the open position. The motor continuously takes electricity to keep it in the open position though.
+Peter Ohlmus My point to the experiment though is to make the hand as cheap as humanly possible, to which I have used about $20 CAD in items, if you include the actual milk in the jugs. I am continuing to the forearm and then upper arm right now. The most expensive part with be the Arduino
Hi, it wasn't that hard to learn - more about tinkering, trial and error. I think the biggest learning curve is the coding of the arduino. Once it all starts working though, you get pretty excited and push through any obstacles :)
hi there! My research group is working on a similar project, would it be possible to be added to your shared dropbox folder for some reference! Thanks :)
Hi Brian, the servos are connected to a custom pcb (which also powers them with 5v). The signal wires from each of the servos then go to digital PWM pins on the arduino.
Hello as you do so that the fingers return to their posisicio the original n , there is a kind of rope that pulls the fingers through the servos , but as you do to return to the original position
Hi Saif. I used the following servos from E-flite, but you can use much cheaper servos - it comes down to size/specs of the hand and torque required: www.e-fliterc.com/Products/Default.aspx?ProdID=EFLRDS75H
I think you over priced it by a bit unless you are including man hours of coding in the price, as far as hardware is concerned it could be made way cheaper. Its a impressive project though and its working very nice. Ever thought about making a serious version and engineering it out of steel with hydraulic motors.
Thanks! I remember costing all the parts: Arduino experimenters kit, servo's, PCBs, extra wires, power supplies, wood, metal bits and pieces, glue, string, tea infusers - it may not seem like it, but it soon adds up :)
The fingers all bend as they have hinges in between the wooden parts. On the other side of each joint is a small strip of elastic - this acts like a spring, returning each finger to a straight position. Does that make sense?
Hi Brayan, sorry for the delay. Please see the Dropbox link in the video description - hopefully all the information there will answer your questions. :)
Thanks Melissa. If you reply with your email address I will share my Dropbox folder with you - it contains the code in a .txt file along with pictures and an article. Cheers! :)
Hi Cosmin, please read the description for more information. The fingers are connected to the palm using metal hinges. If you add your email address to these comments I can share the dropbox folder with you containing the electrical layout and lots of pictures and information. Cheers!
Helllo Sir, I would like to congratulate you for this robotic hand.. As my final year project I am planning to make this robotic hand. I can easily do the programming but I will need your help to make the robotic hand and how to connect all the hinges,joints. So it will be very much helpful if you guide me how to make the ROBOTIC HAND. Regards Dipti Ranjan Sahoo
Hi Dipti, if you reply to this comment with your email address I can share my Dropbox folder with you that has many pictures and information about building the hand. Cheers! :)
Hi Ionila, I used a separate 5V usb power supply to directly power the 6 x servos on the pcb with all the buttons. Basically an old 5V camera battery charger plugged into mains power, with a DC barrel jack on the other end. Like this one: www.tinyosshop.com/image/cache/data/Power%20supply/AUPLUG-1-600x600.jpg
** THE CODE IS HERE ** THE CODE IS HERE ** THE CODE IS HERE **
Hi all, below is the code I wrote (with some useful comments) for the hand. There are several functions that are triggered by button presses.
Any questions, let me know!
Cheers,
Pete.
=======================================================
#include
// Below are the 4 functions - mapped to 4 buttons:
int buttonPinA = 13; // Open and close all fingers and thumb - quick grip
int buttonPinB = 12; // Move each finger then thumb independently -
// demonstrate dexterity
int buttonPinC = 7; // Move multiple fingers at the same time, pointer and
// thumb pinch, pinky and thumb pinch
int buttonPinD = 2; // Open and close all fingers and thumb - sustained grip
Servo myservo1; // Finger1(pinky)
Servo myservo2; // Finger2
Servo myservo3; // Finger3
Servo myservo4; // Finger4(pointer)
Servo myservo5; // Thumb(swivel up)
Servo myservo6; // Thumb (close)
int pos1 = 0;
int pos2 = 0;
int pos3 = 0;
int pos4 = 0;
void setup() {
pinMode(buttonPinA, INPUT);
pinMode(buttonPinB, INPUT);
pinMode(buttonPinC, INPUT);
pinMode(buttonPinD, INPUT);
myservo1.attach(11);
myservo2.attach(10);
myservo3.attach(9);
myservo4.attach(6);
myservo5.attach(5);
myservo6.attach(3);
}
void loop() {
// ----------------------------------------------------------------------------------------------------------
// ----------------------------------------------------------------------------------------------------------
// Pin A: Open and close all fingers and thumb - grip
// ----------------------------------------------------------------------------------------------------------
// ----------------------------------------------------------------------------------------------------------
if(digitalRead(buttonPinA) == HIGH)
{
for(pos1 = 0, pos2 = 220; pos1 =0; pos1 += 1, pos2 -=1)
{
myservo1.write(pos1); // Finger1(pinky)
myservo2.write(pos1); // Finger2
myservo3.write(pos1); // Finger3
myservo4.write(pos2); // Finger4(pointer)
delay(2);
if(pos1 = 130)
{
myservo6.write(pos2); // Thumb (close)
}
delay(5);
}
for(pos1 = 220, pos2 =0, pos3 = 130; pos1 >=0, pos2 =0; pos1 -=1)
{
myservo3.write(pos1); // Finger3
delay(5);
}
// Close Finger4
for(pos1 = 220; pos1 >=0; pos1 -= 1)
{
myservo4.write(pos1); // Finger3
delay(5);
}
// Open Finger4
for(pos1 = 0; pos1 =110; pos1 +=1, pos2 -=1)
{
if(pos1 < 70)
myservo5.write(pos1); // Thumb(swivel up)
delay(5);
if(pos2 > 109)
myservo6.write(pos2); // Thumb (close)
delay(5);
}
// Open Thumb
for(pos1 = 70, pos2 = 110; pos2 < 221; pos1 -=1, pos2 +=1)
{
if(pos1 > 0)
myservo5.write(pos1); // Thumb(swivel up)
delay(10);
if(pos2 < 221)
pos2 +=1;
myservo6.write(pos2); // Thumb (close)
delay(10);
}
// Close Finger1
for(pos1 = 0; pos1 < 220; pos1 += 1)
{
myservo1.write(pos1); // Finger1(pinky)
delay(1);
}
// Open Finger1
for(pos1 = 220; pos1 >=0; pos1 -=1)
{
myservo1.write(pos1); // Finger1(pinky)
delay(1);
}
// Close Finger2
for(pos1 = 0; pos1 < 220; pos1 += 1)
{
myservo2.write(pos1); // Finger2
delay(1);
}
// Open Finger2
for(pos1 = 220; pos1 >=0; pos1 -=1)
{
myservo2.write(pos1); // Finger2
delay(1);
}
// Close Finger3
for(pos1 = 0; pos1 < 220; pos1 += 1)
{
myservo3.write(pos1); // Finger3
delay(1);
}
// Open Finger3
for(pos1 = 220; pos1 >=0; pos1 -=1)
{
myservo3.write(pos1); // Finger3
delay(1);
}
// Close Finger4
for(pos1 = 220; pos1 >=0; pos1 -= 1)
{
myservo4.write(pos1); // Finger3
delay(1);
}
// Open Finger4
for(pos1 = 0; pos1 =110; pos1 +=1, pos2 -=1)
{
if(pos1 < 70)
myservo5.write(pos1); // Thumb(swivel up)
delay(1);
if(pos2 > 109)
myservo6.write(pos2); // Thumb (close)
delay(1);
}
// Open Thumb
for(pos1 = 70, pos2 = 110; pos2 < 221; pos1 -=1, pos2 +=1)
{
if(pos1 > 0)
myservo5.write(pos1); // Thumb(swivel up)
delay(3);
if(pos2 < 221)
pos2 +=1;
myservo6.write(pos2); // Thumb (close)
delay(3);
}
// Open and Close fingers and thumb quickly and alternately
for(pos1 = 0, pos2 = 220; pos1 < 220; pos1 += 1, pos2 -=1)
{
myservo1.write(pos1); // Finger1(pinky)
myservo2.write(pos2); // Finger2
myservo3.write(pos1); // Finger3
myservo4.write(pos1); // Finger4
delay(5);
}
// Open Finger1 and Finger2
for(pos1 = 220, pos2 = 0; pos1 >=0; pos1 -=1, pos2 +=1)
{
myservo1.write(pos1); // Finger1(pinky)
myservo2.write(pos2); // Finger2
myservo3.write(pos1); // Finger3
myservo4.write(pos1); // Finger4
delay(5);
}
myservo2.write(pos1);
myservo4.write(pos2);
}
// ----------------------------------------------------------------------------------------------------------
// ----------------------------------------------------------------------------------------------------------
// Pin C: Move multiple fingers at the same time, pointer and thumb pinch, pinky
// and thumb pinch - slowly then quickly
// ----------------------------------------------------------------------------------------------------------
// ----------------------------------------------------------------------------------------------------------
if(digitalRead(buttonPinC) == HIGH)
{
// Close Finger1 and Finger2
for(pos1 = 0; pos1 < 220; pos1 += 1)
{
myservo1.write(pos1); // Finger1(pinky)
myservo2.write(pos1); // Finger2
delay(5);
}
// Open Finger1 and Finger2
for(pos1 = 220; pos1 >=0; pos1 -=1)
{
myservo1.write(pos1); // Finger1(pinky)
myservo2.write(pos1); // Finger2
delay(5);
}
// Close Finger3 and Finger4
for(pos1 = 0, pos2 = 220; pos1 < 220, pos2 >0; pos1 += 1, pos2 -=1)
{
myservo3.write(pos1); // Finger3
myservo4.write(pos2); // Finger4
delay(5);
}
// Open Finger3 and Finger4
for(pos1 = 220, pos2 = 0; pos1 >0, pos2 0; pos1 += 1, pos2 -=1)
{
myservo1.write(pos1); // Finger3
myservo4.write(pos2); // Finger4
delay(5);
}
// Open Finger1 and Finger4
for(pos1 = 220, pos2 = 0; pos1 >0, pos2 =0; pos1 -=1)
{
myservo2.write(pos1); // Finger2
myservo3.write(pos1); // Finger3
delay(5);
}
// Close Finger1 and Thumb
for(pos1 = 0, pos2 = 220; pos1 =0; pos1 += 1, pos2 -=1)
{
myservo1.write(pos1); // Finger1(pinky)
delay(2);
if(pos1 = 130)
{
myservo6.write(pos2); // Thumb (close)
}
delay(5);
}
// Open Finger1 and Thumb
for(pos1 = 220, pos2 =0, pos3 = 130; pos1 >=0, pos2 =0; pos1 -=1)
{
myservo1.write(pos1); // Finger2
myservo3.write(pos1); // Finger3
delay(2);
}
// Close Finger2 and Finger4
for(pos1 = 0, pos2 = 220; pos1 < 220, pos2 >0; pos1 += 1, pos2 -=1)
{
myservo2.write(pos1); // Finger2
myservo4.write(pos2); // Finger3
delay(2);
}
// Open Finger2 and Finger4
for(pos1 = 220, pos2 = 0; pos1 >0, pos2 =0, pos2
+Peter Ohlmus Hey I know it's a little late but could you pleases show me how you connected the joints and give a more close up view. Like maybe some pictures or something. I'm doing this as a project for school and would really appreciate it, especially the thumb joint. Thanks
My email is c4sualgam3r@gmail.com
+Casual Gamer Sure mate, I'll send you something soon. Cheers :)
+Peter Ohlmus Hi, can you send me the same, i want to do something similar and i want to know how to connect the joints
+Francisco Espinoza my email is pako_esp@hotmail.com Thanks (;
please send it to my Gmail please
I love how the big bang theory is playing in the background :) I usually put it on too when playing with my arduino :p
Yep, it's relaxing to listen to BBT or Seinfeld or music while mucking around :)
thats amazing it moves so smoothly ..its like watching da vinci work
Sheldon likes the blue jay
Hi Michael, the code to move servos 180 degrees is actually pretty easy. There's plenty of websites and forums with examples, and the Arduino IDE has sample sketches that you can alter to suit your needs. If you're interested in the code, let me know and I can send it your way. Cheers!
Peter Ohlmus sir can u send me the code on kshitij.jog@gmail.com
+Peter Ohlmus Hello can you send it to me too, my email is genuisminecrafter@gmail.com
+Mark Johnson Hi Mark, the full code is in the comments section - just look for the comment that says ** THE CODE IS HERE **. Enjoy! :)
+kshitij jog Hi, the full code is in the comments section - just look for the comment that says ** THE CODE IS HERE **. Enjoy! :)
Okay thanks!
Thx so much Peter, my friend and I r going to make a robot hand for a project and we needed ideas and we got them from u! Thx
Excellent - good luck with it! :)
excellent, i have been wondering who was pulling all the strings around here
+Stephen Manchester Hehehe... bravo! :)
wow, one of the better home made out there. Good Job
Thanks very much!
Beautiful work :)
Thanks Christopher! :)
Hi Chace. Yes, they're micro servos with a fair amount of torque although the plastic gear teeth can strip if there's too much force applied. Most of the servos are these ones from E-flite RC Helicopters: www.e-fliterc.com/Products/Default.aspx?ProdID=EFLRDS76 I didn't use flex sensors, only the arduino and quite a lot of fairly easy code that interprets button presses on a separate custom pcb. The fingers return to 'open' position by the black elastic on the top of the fingers that stretch across each knuckle. Thanks for taking a look.
Dear Peter,
I bought 50% of the items today. I have one problem. For the knuckles/ hinges, I have this item ( upload.wikimedia.org/wikipedia/commons/9/9f/Tea_infuser_2.png ) but I don't know which part of that item I should take to use for the knuckles/ hinges. Can you show me a picture of how your hinges/ knuckles? where should i cut the metal etc.
Regards,
Salam
Hi Salam, wow - cool to hear you're making the hand! :)
If you reply to this comment with your email address I will add you to my Dropbox folder which contains many pictures and an article on how to build the hand. Cheers!
Peter Ohlmus oh wow sure! my email: salamanuar96@gmail.com thank you so much Sir
No problem - I've just added you to the Dropbox folder. Good luck and enjoy! :)
Peter Ohlmus Thank you so much Sir!
Now that is good programming, and its extremely lifelike a few more mods and he'd have a whole arm
+Richard Skull Thanks! :)
Sooo cool! ^^, Thank u for sharing this :)
Thanks Amby! I'm working on V2 at the moment - muuuuuch better than V1, although I still like the original! :)
Nice work Peter! Question: What are you using to make the fingers go back to the rest position? You have a dark thin material glued to the other side of each finger… Thanks.
Allabout Hh Thanks very much! The black material is elastic, cheap and effective for returning each segment to the open/rest position. You just need to play with it a bit until you get the right resistance, then glue it down. :)
Peter Ohlmus Got it Thanks for the quick reply. :)
wow! amazing! but how do u pull back the fingers? are those rubber bands??
I find it amusing that the big bang theory is playing in the background
Yeh, it's a good show to listen to while doing stuff... :)
great job! if you paint it a silver colour it would look like the Arnold's hand from the Terminator movie
+OnAMission Thanks! Yeh, I think my 2nd version looks more like the terminator hand - check it out: ruclips.net/video/KTZ5fA1Snis/видео.html
Hi Peter, First, The project is very amazing, I love it. Fingers move it too quickly. I watched a lot of videos but I see a fast-moving fingers first time. it's very nice.:))
Secondly, If I want to do this project without the arduino, I can?(for thesis) :)) Thank you.
Hi Merv! Sorry for not replying sooner, and thanks very much for your kind comments. I don't think you would be able to do this project without the Arduino or a similar microcontroller, unless someone wrote the program for you and burnt it to a ROM on a chip, which was then used to control the servo's. There would be a lot more required to do this and get it working though. I'm hoping to release a kit in the next year or so that will have all the hardware and electronics needed to build and operate the hand (a more improved version) without any coding or soldering skills needed. Stay tuned! :)
I see.Ok.I have to find another way because I want to desing.Thank you again for your opinions. i'd like to see an improved version.:))
Hi Peter, thank's for answer me.I have another question. How did put the black bands on the hand?
Hi Caroline. I stretched the black elastic band pieces across each finger segment, and held each end in place with small alligator clips. Then, added a tiny drop of super glue to hold it there. When set, I tested/checked it had the right amount of flex, and if it was good I applied epoxy resin to the underneath of each end of black band. If it didn't feel right, the super glue bond was easily broken, allowing me to stretch it more or less and apply super glue again. Hope this helps!
Hello! I´m working on a similar project.
Is the distance at which the servo is placed important? Or the lever arm is only given by the piece on the servo arrow?
Thank you fo your support.
Hi Luis, I'm not sure exactly what you mean. But, the distance of the servo can be as far away as you want, as long as there is enough string/cord to join from the servo horn to the finger end. Hope that helps? :)
Hi Peter,
First, great work and design. Could you tell me from finger tip to palm, the sizes that you cut for each section. Thanks would appreciate it. Cheers
Hi Ron, thanks. Each of the segments for each finger are quite different in size - modelled loosely on my own hand. If you're looking to make something similar, I'd suggest you measure each segment of each finger of your hand, to get a scaled model. Good luck!
Awesome what you did here !!
but if lay down your hand like this and try only to move your ringfinger then see what moves with
thankyou for sharing this project, its very useful information . thank you again
can you plz forward it to me. i'll be very thankful to you
azeembutt046@gmail.com
Hi Peter. Would I like to know if you used in the joints, pulleys or springs ?
Hi Caroline. The joints are from tea-infusers I bought at the local supermarket, like these: commons.wikimedia.org/wiki/File:Tea_infuser_2.png.
I cut them about 10mm from the joint, then drilled a hole in the wood, inserted the cut end with epoxy. They work quite well and are pretty cheap. I've since found eyeglass/sunglass hinges are good as well and usually have a tighter tolerance.
Thanks for taking a look!
Hi Peter,
Best project!
Question:
-It's possible to adapt this project for using EMG signal to control servo motor? If yes, how can I do it?
-In your project, have you use any sensor?
Thank
+Paulin Alanmanou Hi Paulin, yes you can adapt this to use muscle sensors. Advancer tech make some good quality affordable ones here: www.advancertechnologies.com/p/shop_3.html I haven't yet used sensors like these in a project, but there's plenty of info out there on the internet. Good luck!
Oh and one more question, have you used the same hinges from top to bottom? (Meaning.. Would will these hinges be having same stiffness from top to bottom?)
I've recently purchased sunglass hinges from China that have a very, very smooth and precise action. They do not have any kind of spring to return the action to an initial state, but they are small and precise and very pleasing to both the feel and the eye! My next hand will utilise these hinges for the joints, and the new actuators for movement - which will remove any need for springs or elastic. They're pretty cool actually! :) Thanks for your interest!
What type of motor did you use for the fingers? I've been looking for one to use, and was it remote control? Thx
Hi there. I used several micro servos from RC helicopters.
Hi, may I know where did you buy the think bands/strings (attached at the back of the fingers)?
Hi Ho. The black bands are just elastic from a haberdashery shop, like this but not as wide: www.fabric.com/buy/e-039/1-black-no-roll-elastic
Thanks for taking a look!
Cheers,
Peter.
your proyect its amazing!! im making one for my school, what is the torque of the servos? i want to know how strong are they so i dont buy the wrong ones. thanks
Thanks Julian! Great to hear you're making one for your school - all the best. I used these E-flite servos as they're very reliable and have good torque: www.e-fliterc.com/Products/Default.aspx?ProdID=EFLRDS75H You might find cheaper Hitec ones that have the same or more torque though, or you could always buy more powerful servos, but they are usually expensive. Good luck, and contact me with any questions! :)
thank u so much, and congratulations for your hand agan!!!
Thanks Peter .
I'll use this méthode.
However if you have any other hinge idea let me know. :-)
Hi IVYX, just letting you know that I found a Chinese supplier of Eyeglass hinges - quite inexpensive, and the hinges are precise and robust. May be useful on your next project, unless you have gone for a more organic/flexible approach www.tailiglassesparts.com/hinges-buy/4.0mm-wide-hinge-for-wood-sunglasses.html May your project be all that you want it to be! :)
Thanks a lot! these hinges look very nice ,I might buy theme but for now I am using bike chain links wich work well :-)
Thanks again for the ideas ! :-)
Hello. Really nice hand. I would just like to know how you wired the buttons to the Arduino board. Thanks
+N kojo25 Hi there, sorry for the late reply. I soldered the buttons to a separate pcb board, along with signal wires that went back to the Arduino.
Nice...did you try to learn him guitar chords ?
Very very cool did you really chop up 14 tea strainers for the knuckle joints
+Dwinal Randall Hey Dwinal - yes I really did chop up the tea infusers to get the joints. :)
How do you connect the servos to the Arduino? Do they need an extra battery to work or something?
When I connect mine with a 9V battery connected to the Arduino, they don't move how they should. Any idea?
Thanks :)
Thank you Mr peter for this interesting project
We are working in our graduation project designing a haptic arm
The idea is we were going to use a clipper as the end of the arm
But after watching the video i proposed that why not use ur idea if u don't mind ?
And if u don't i want to ask u about the finger design about the way it's bending ?
And what marital did u use?
And ofcourse the rope ,?
Thanks ^^
Hi Malik, I don't mind at all! :) The materials used were 10mm wooden dowel for the fingers, strong black thread for the strings/tendons, black elastic for the tops of the fingers to act like a spring and hinged from cheap tea infusers for the knuckles. The palm is just a piece of pine wood and the servos are micro servos from Blade RC helicopters - reliable. Any more questions, just ask! Good luck with your project!
In between the top of the fingers (top of the hinge/knuckle) I used pieces of cut silicon tube. This provided a kind of cartilage to stop the finger segments bending back too far but also has a small amount of natural springiness.
Thank you very much
I appreciate your help and time
Looking at the thumb, i see that ypu are using 2 servos for it, i see one driving a cord to contract the finger but i cant see how you are driving the rotation with the second servo. How are you doing this?
Good observation. The second servo pulls a string/cord that was anchored to the lower segment of the thumb assembly. It pulls in such a way as to rotate the entire thumb assembly up, then down. Hard to see, but is actually quite easy once you see where to anchor the string! :)
hello peter ive succesfully built a hand i just really need to learn how to make an opening and closing code
Hi Cody, congrats on the build. I have shared my code along with everything else using Dropbox - if you'd like to see all this content, please reply with your email and I'll share the Dropbox folder with you. Inside there's a file called 'Robot Hand Code' - funnily enough - that has all the code you need to open/close all fingers and the thumb. Cheers! :)
that's awsome!
+Jay Eisenzimmer Thanks Jay!
Simple and great GOOD JOB
Thanks!
my absolute pleasure
I'm curious...did you attempt any strength testing with this? I'm working on a similar project, and I was trying to figure out if the string design would hold up under stress.
+Matthew Spaziani Hi Matthew. I did more strength testing on the 2nd version, and ended up using strong braided fishing line - which have many ratings.
Hi! im a 10th grade student working with Ardinos for a programming and making class and want to do this for my final project (i think its super cool). I was wondering, did you just update the single servo code to incorporate multiple servos or type a different code entirely? Also, so you used push buttons, is that the easiest way to control the servos or would something like the flex sensor be easier to control it with. sorry for the dumb questions but its a new course and its tricky to go too far outside the box without getting stuck as every ones knowledge of the material is limited. thanks!
Hi Luda, thanks for the kind words! Your questions are not dumb at all. Ok, I copied the single servo code for each finger, or when a particular push button is pressed multiple servos for multiple fingers. Here is some sample code I used to 'close' all the fingers. Do the opposite to 'open' them:
if(digitalRead(buttonPinA) == HIGH)
{
for(pos1 = 0, pos2 = 220; pos1 =0; pos1 += 1, pos2 -=1)
{
myservo1.write(pos1); // Finger1(pinky)
myservo2.write(pos1); // Finger2
myservo3.write(pos1); // Finger3
myservo4.write(pos2); // Finger4(pointer)
delay(2);
if(pos1 = 130)
{
myservo6.write(pos2); // Thumb (close)
}
delay(5);
}
Also, I found the push buttons the easiest method to control what I wanted to do as the code is what determined the rotation of the servo, didn't need a flex sensor for that. You could use flex sensors in a separate glove arrangement, but that would require more code. Good luck and have fun!
REALLY cool project dude!!!! Nice!! =)
Rasmus D Thanks Rasmus! :)
Peter Ohlmus, sir can u tell me what maximale mass can be supported by the upper and lower face of your HandRobot? ( 1kg? ...). Secondly i also want to know, if it just need 9V to be powered ?
Fofe Fofece Hi there. I don't know what the maximum supported mass would be - I'm sure it could be calculated using the specs of the servos and the materials I used - I'm thinking more like 500grams max. You could power the Arduino with 9V, but would need a 5-6V supply for all the servos. Thanks!
I can hear the big bang theory in the background
+JPSK360 Yep, it's a good show to listen to when building stuff :)
Same
wow! very impressive!
Thanks! :)
Fantstic
The arduino part I can understand. What did you use for the finger?
How did you hinge the didgets together so that they sprung back?
Thank in advance for tips!
Thanks :) I used 10mm wooden dowel for the fingers and tea-infuser hinges for the knuckles. To get the fingers to spring back I used elastic. If you're interested, I can send you a bunch of information and pics - just send me your email and I'll send you the info. Cheers!
Hi Peter, my email address is k.wonderley@clubtelco.com. Would love to see the pictures of how to construct the hand.
Sending you a couple of emails now - first is 30mb, the second is a lot less. Let me know if you don't get them. Cheers, and enjoy! Pete
Hi Peter,
I did not receive the emails. Looking forward to seeing them. Regards
Kay
Hi Kay, I sent 2 emails to you on 15/07 to the following email address: k.wonderley@clubtelco.com. They were quite large though, so that may be why you didn't get them? Send me an email and I'll reply to you. Cheers!
Peter Great Project! How are the switches wired and what are their independent functions in regards to code execution? If I wanted to have all fingers close then open as you would count from 1-5, how would that code look? I would like to have a demo mode run and maybe have the children press a button to perform a predetermined function like a peace sign, thumbs up, hang loose, etc. Will you help or point me in the direction of some type of templet? We have the hand built, servos mounted, circuit built for separate power supply, but are confused on the code aspect. We also have mounted servos on both sides of board, the ones on the right need different rotation adjustments and or settings. How did yo overcome this? Thanks for you contribution and exciting our young (and old) minds!!
Hi Darryl, apologies for not replying sooner! I'll reply in full tonight along with some code :)
Hi Darryl, I'm more than happy to help you. If you send me a private message I will send you the code I wrote along with pictures and more info to get you going. Cheers! Peter.
Where did you get the hinges from?
Thanks.
The hinges are from tea-infusers I bought at the local supermarket. Chopped them out and bingo! That said, there were a few that were too loose or too tight, so had to go through approx 20 tea-infusers. But, they were cheap...
This kind of infuser: commons.wikimedia.org/wiki/File:Tea_infuser_2.png
thanks .
I still hesitate betwen hinges and a flexible material.
but still thanks for the help! :-)
hello Peter, do you still have the schematic diagram of your project? we are interested on using your project as our school project this semester and we don't know how to connect the servos to the arduino. we are amazed with this project. thank you
+Krystel Liongco Hi Krystel, yes I have the schematic for the servos on their own circuit board as well as other pictures and information. I'm more than happy to email this to you, just send me an email: petethedreamer@gmail.com
+Peter Ohlmus thank you. It would be a great help. :) this is my email: krystelliongco@gmail.com
Hello
What is the system you used in the programming board Arduino Is is possible to use the plate test board and is a method of connecting wires Does using any type of servo motor.
Hello. I'm not sure what your question is. I wrote the code using C in the Arduino IDE. Cheers!
Peter Ohlmus
I mean, how do I program the Arduino board with any kind of systems and what a way to link electronics as possible to put me planned
Hi, there is a lot of helpful information available at the Arduino website and forums on the internet - I found so much help from people that had already created various projects. It depends on the systems you are using and the kinds of electronic devices you want to link to the Arduino. The Arduino itself can directly handle a few servos, but when you want to handle more than say 2 it's better to use a dedicated (and separately 5v powered) board to plug them into.
Peter Ohlmus
Thank you
Hey I have a question again, did you use a shield over the arduino to connect the servos?
+Critical Expert I didn't use a shield as the arduino is capable of driving the servos. What I did use was a separate pcb board to plug all the servos into, which also had a DC jack for a separate 5v power supply to power the servos. A good thing to do as there wouldn't be enough power coming from the arduino itself. And I use 6 x servos, 4 for the 4 fingers and 2 for the thumb - 1 to swivel the whole thumb up and down, and the other 1 to close the thumb. Hope this helps :)
Wow. That actually helped a lot I was wondering why you used 6 servos. Thanks a bunch! :)
what are the mechanical equipment u have used for jointing the fingers?
it would be a great help if u can tell me the models of those metal things in the finger.
are those micro servos and how much torque do they have?
also are you using flex sensors or how is it controlled
Great project! Will there eventually be a tutorial on the hardware? (not the code, the process of building the fingers&hand.)
***** Thanks Lucas! Yes, I'm working on a tutorial - but other projects always get in the way! :) Stay tuned!
Peter Ohlmus Sounds great! excited to see how the thumb rotation was achieved.
***** Happy to send you some pics and info - just let me know.
Peter Ohlmus That would be incredible! I'd love to have a closer look at the thumb, and see how it's tendon/strings were arranged to allow the rotation/swiveling and the flexion of the thumb at the same time.
Hey Peter, if possible, I would like to get some advice from you for building these hands. I see that you have used the hinges here, so my question is, (if these hinges act as a torsional spring) what would be their stiffness from top to bottom. Any comments will be appreciated, thanks.
Hi Han Go-Eun (if that's correct?). The hinges are purely hinges, with elastic material (black in colour) added on top of the fingers to ensure the finger returns to an 'open' position. The more recent hand I made has spring loaded hinges, but unfortunately they are not very precise, so the fingers end up getting stuck during travel. Thanks for your question!
It's actually Dong Un, but that doesn't really matter ha ha. Well... I guess the elastic material acts as torsional springs here in your creation. Thanks for your reply hope you have a nice one ;)
Hang on.. You wouldn't happen to have different length for those elastic materials at the top of the fingers would you? Because shorter length will make the material have higher stiffness.
이동언 Hi Dong Un, yes that's true. I clamped the elastic to both parts of the fingers in various stretched positions to test how well the elastic returned the finger to the open position. Once I was happy, I cemented the ends of the elastic in place, then removed the small clamps. A simple approach, but it worked well. :)
Peter Ohlmus Thanks so much for your reply :) Have a good one.
Hi peter. great job! I'm new with arduino. i was wondering if it is possible to get the code. thank you so much
Hi Peter, your work is really interesting! I'm developing the same project: in my case it's a myoelectric hand, but it's guided by 2 stepper motor. I'd like to ask you if you've tried also this kind of motor coupled with gear instead of cables, due to their precision.
Hi Giovanni. I've tried small stepper motors and although very precise, they just don't have the torque for everyday functions. I'm working on my third hand at the moment which is using gearmotors and a mechanical arrangement instead of cables/tendons. I'd be interested to see how your myoelectric hand progresses!
Could you tell me the model of the stepper motor you tested? I'm trying to use 2 Nema 11 HS12-0674S, with 6 Ncm torque, but with a future better arrangement, I think I'll use 1 of theese for thumb and another Nema 11 HS 20-0674S, with 12 Ncm torque, for the other 4 fingers. Could you give me your mail or your facebook contact? This way will be easier to communicate! And thank you for your reply!
Giovanni Zappatore Hi Giovanni, I used very small stepper motors - originally planned 1 for each 'knuckle' of a finger, however the wiring became quite messy and the torque was very poor - and that was one finger only! The Nema steppers you're planning to use seem very adequate, although quite big - but I suppose they fit your plan/design well. I'm here on facebook: facebook.com/peter.ohlmus
great work
Thanks Claudio :)
what kind of wood did you use? or what is that kind of stick? where did you buy it?
Hi Luis, the wood for the fingers is 10mm dowel. I bought 1m length and cut it to suit using a Dremel. The black colouration at the joints is where the Dremel disc basically started burning the wood during the cut. You can buy 10mm dowel (or similar) from your hardware store. Cheers!
Hello. Do you have the code for the left hand? Your project is awesome! Thanks for sharing :-)
Can I get a list of the materials that you used? Thanks!
Hi Huskey, if you reply with your email address I will share my Dropbox folder with you. It contains details of all the materials used. Cheers, Peter.
Excellent and beatiful
+JavierFigueroaa Thanks!
mantaap MESIN UNDIP, sangat kreatif dan inovatif !!! teruslah berkarya dengan menciptakan karya yang berguna bagi masyarakat, negara hingga dunia !!! GOOD LUCK !!!
Terima kasih banyak! :)
What would happen if you had more expensive servos with stronger gears and more power? Would it be possible to say, crush a pop can?
+Aaron Keith Hi Aaron, yes - if you used servos with more power and torque and say some heavy duty braided fishing line you could easily crush a pop can. You'd just want to keep an eye on the hinges and where the line is attached to the servos as they'd become weak points. :)
+Peter Ohlmus I have created a hand based on your work, without the servos. It is made out of milk jugs and paper clips for the joints, but I was wondering, do you use some sort of elastic material to bend the hand back?
+Aaron Keith Wow, sounds cool - how do you get the fingers to move without the servos? Yes, I used elastic like this www.supplydivision.com/flat-elastic/4-cord-3mm-black-elastic-200m-reel.html that you can buy quite easily (you obviously don't need 200 metres of it though :) ). Alternatively you can just use rubber bands.
+Peter Ohlmus I used a motor, and I have since used an elastic band on the thumb to see if it would work, which it did. So the motor takes it to the closed position, while the rubber band takes it back to the open position. The motor continuously takes electricity to keep it in the open position though.
+Peter Ohlmus My point to the experiment though is to make the hand as cheap as humanly possible, to which I have used about $20 CAD in items, if you include the actual milk in the jugs. I am continuing to the forearm and then upper arm right now. The most expensive part with be the Arduino
can you tell me the code to just move the servos 180 degrees in one motion
What material did you use for the wires in the hand? Thank you
Hi Colton, I used strong black sewing thread for the tendons that go from the finger tips to the servos - is that what you meant? Cheers, Peter.
Peter Ohlmus Thanks Peter!
Lucky asthma inhaler you sure love big bang theory....
+deadpiece111 Hehehe... yeh, was watching/listening to it while making the hand :)
Bravo Bro!!!
Was this hard to learn?
Hi, it wasn't that hard to learn - more about tinkering, trial and error. I think the biggest learning curve is the coding of the arduino. Once it all starts working though, you get pretty excited and push through any obstacles :)
hi there! My research group is working on a similar project, would it be possible to be added to your shared dropbox folder for some reference! Thanks :)
Hi Katelyn. Sure, happy to share with you - please reply with your email address and I'll share the dropbox folder with you. Cheers, Peter.
Thank you! katelynrorke@gmail.com
Hi Katelyn, I've just added you to my Dropbox folder so you can view information, pictures and an article about the build. Enjoy! :)
how did you make the fingers
Directed by Me was super👌
Hello, what is the torque of the motor ?
How did you connect all the servos to the arduino?
Hi Brian, the servos are connected to a custom pcb (which also powers them with 5v). The signal wires from each of the servos then go to digital PWM pins on the arduino.
Hello as you do so that the fingers return to their posisicio the original n , there is a kind of rope that pulls the fingers through the servos , but as you do to return to the original position
Hi Jean, I don't completely understand your question? Do you mean the black elastic on the back of the fingers?
Peter Ohlmus yeah. what is it ? wher you can find one ?
Andrei Ilie This is what you can use: www.supplydivision.com/cut-pieces/9mmdouble-strength-black-elastic-cut-pieces.html
Hello sir.Can you please tell me all the materials that you use?please sir.
Hello, please read the video description for all the materials used as well as links. Thanks.
which servo did you use here? I meant the model number?
Hi Saif. I used the following servos from E-flite, but you can use much cheaper servos - it comes down to size/specs of the hand and torque required: www.e-fliterc.com/Products/Default.aspx?ProdID=EFLRDS75H
sounds like big bang theory
+farid ahmad Yep, was listening to it while testing :)
cool project bro.. btw how to design joints sekleton.. i interest to build..
I think you over priced it by a bit unless you are including man hours of coding in the price, as far as hardware is concerned it could be made way cheaper.
Its a impressive project though and its working very nice. Ever thought about making a serious version and engineering it out of steel with hydraulic motors.
Thanks! I remember costing all the parts: Arduino experimenters kit, servo's, PCBs, extra wires, power supplies, wood, metal bits and pieces, glue, string, tea infusers - it may not seem like it, but it soon adds up :)
I suppose the most important question is " Can it Flip the bird" Lol
Yep, it could flip the bird - before it was decommissioned...
what value resistors did you use for the buttons ? thx
Hi, I used 10k ohm resistors for the buttons. Enjoy!
can you post a video on how the movement of fingers is happening by pulling wire using servos.Thank you in advance.
Hi Akhil, if you go to 1:44 in this video you will see the servos pulling the line that moves the fingers. Cheers.
+Peter Ohlmus i want to know what's making the finger to bend.I mean what mechanism does this part.Thank you for ur reply though
The fingers all bend as they have hinges in between the wooden parts. On the other side of each joint is a small strip of elastic - this acts like a spring, returning each finger to a straight position. Does that make sense?
What material did you used for the return?
Hi Luis, I used black elastic like this: www.supplydivision.com/flat-elastic/4-cord-3mm-black-elastic-200m-reel.html
Hi!!! I'm mexican student , I have a dude , how did you do it for link fingers.
Excuse me for my English
Hi Brayan, sorry for the delay. Please see the Dropbox link in the video description - hopefully all the information there will answer your questions. :)
What are the specifications of the servo used?
faszinierend
+timo wurst Vielen Dank!
Hi! would you be able to give me the code in another file? I can't seem to get the code below to work.
Great hand tho! :)
Thanks Melissa. If you reply with your email address I will share my Dropbox folder with you - it contains the code in a .txt file along with pictures and an article. Cheers! :)
Thank you!! its melissadall@hotmail.co.uk :)
Also, would you mind exchanging a few emails with you so I can ask you some questions about assembly and possibly help with my final year project? :)
Hi Melissa, I've just shared my Dropbox folder with you - hope you find it useful. Also, I've sent you an email - happy to help. :)
Hi, can you explain this:
1. how do you connect the fingers and the palm
2. electrical scheme
please
Hi Cosmin, please read the description for more information. The fingers are connected to the palm using metal hinges. If you add your email address to these comments I can share the dropbox folder with you containing the electrical layout and lots of pictures and information. Cheers!
Hi Peter, I would be really helpful.
Thank you very much.
cosminmarian817@yahoo.com
Hi Cosmin. I've just shared my dropbox folder with you so you can see all the pictures and information. Good luck and enjoy! :)
hello, thank you very much
Hello, sir, plese send me electrical layouts and all information, Thank you!
Helllo Sir,
I would like to congratulate you for this robotic hand..
As my final year project I am planning to make this robotic hand. I can easily do the programming but I will need your help to make the robotic hand and how to connect all the hinges,joints.
So it will be very much helpful if you guide me how to make the ROBOTIC HAND.
Regards
Dipti Ranjan Sahoo
Hi Dipti, if you reply to this comment with your email address I can share my Dropbox folder with you that has many pictures and information about building the hand. Cheers! :)
Peter Ohlmus drsahoo09@gmail.com
Hi Dipti, I've just shared my Dropbox folder with you. Good luck and enjoy! :)
plz share me the dropbox folder on
kunalgajbhare72@gmail.com
Hi Kunal, I've just shared my Dropbox folder with you. Enjoy! :)
hello
do you have a code of a robotic hand that minics the movements of a glove with flexible sensors ,
please .
+Bessem Tleti Sorry I don't.
What glue did you use?
Cool.
from which material did you made the fingers
Hi Ananya. I made the fingers from 10mm diameter wooden dowel.
thx
hello what source of power do you use for all 5 motors?
Hi Ionila, I used a separate 5V usb power supply to directly power the 6 x servos on the pcb with all the buttons. Basically an old 5V camera battery charger plugged into mains power, with a DC barrel jack on the other end. Like this one: www.tinyosshop.com/image/cache/data/Power%20supply/AUPLUG-1-600x600.jpg
man you are just like me doing project with big bang theory episode :D
haha, yeh - it's pretty easy and pleasant to have in the background when doing stuff :)
Very Good!
cool, i hv build a robot with the same concept like 10 years ago for my diploma final project. looks like my idea came up first lol.
+seshna palillan Good for you. Do you have videos and/or pictures you can share?
Sir can you tell me the code for Arduino?
Did you use C++ to program the arm?
+Critical Expert Hi there. I used C in the Arduino IDE - it's not OO and very easy to write.
okay thanks, Actually at my high school were doing a project with arduino kits and I saw this so I wanted to try to replicate it. ^_^
Sounds cool - good luck! :)
WHERE ARE THE CODES SOMEONE PLEASE HELP 🙏🏻