An interactive robot that anyone can make! Otto is very easy to 3D print and assemble, walks, dances, makes sounds and avoids obstacles. Project tutorial by Camilo Parra Palacio. Make a simple and programmable servo arm out of readily available materials! Tired of controlling your robot with a joystick? Ever thought of controlling it with your hands?

Project tutorial by Mayoogh Girish. Project in progress by Andriy Baranov. This project shows how to design a wi-fi remotely controlled two-wheeled robotic rover, using an Arduino Uno and an ESP Project tutorial by Igor Fonseca Albuquerque. With a lot of inspiration from Boston Dynamics projects, I'm trying to make something great without million dollars.

A robo which follows an object of uniform color using Computer Vision. Project showcase by Rohan Juneja.

Project tutorial by circuito. This project shows how you can build a car which can be controlled by your smartphone using an android application via Bluetooth. Very cheap but interesting. It can draw any image uploaded from PC. Project showcase by Mrinnovative. This is a beginner's guide to making your first Arduino robot. Smart phone controlled, wall follower and obstacle avoiding robot. Project tutorial by Muhammed Azhar.

Based on Blockly and BlocklyDuino, here's a multilingual enhanced version with supervision, upload, multi-level blocks, etc. Basically has been adapted to a standard Arduino UNO board.

Meet the little black rover that can do many things in your house without bumping into a single thing! Project in progress by UniverseRobotics. Simple robot to build, involve no pcb or proto board, no frames, just using a lot of glues. Perform limited autonomous navigation and plot a 2D map of the environment.

Project in progress by Avirup Basu. Its super simple, low cost 2 sensor based line follower robot. If you are a absolute beginner, you can make it only in 2 hours.

Project tutorial by Zubayer Al Billal Khan. Sign In.This project idea came to me when I was sitting on a bed in a hotel room while on vacation. I thought: "It'd be really neat to have a robotic hand that I can control with my own hand! I hope you enjoy! The basic components of the hand and glove are the hand itself, the servos, the Arduino, the glove, and the flex sensors. The glove is mounted with flex sensors: 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 Arduino 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. Here's a video of it in action.

This guide will show you all the steps required to build your own robotic hand and control glove! Did you use this instructable in your classroom? Add a Teacher Note to share how you incorporated it into your lesson. I've had a bit of trouble with the range of motion, so servos that support a higher degree of rotation would be better - I got mine from hobbyking. And you're ready to start! 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. I used a MakerBot Replicator 2X - I'd recommend printing the finger parts in standard or high resolution to avoid unwanted friction. I also included rafts with all the parts, as they make the prints more consistent, especially when using ABS plastic.

robotic hand project pdf

The flex sensors require a circuit in order for them to be compatible with Arduino. It's a voltage divider: the flex sensors are variable resistors, and when paired with resistors of a static value, a change in resistance in this case bending the sensor can be sensed through the change in voltage between the resistors. This can be measured by the Arduino through its analog inputs.

The schematic is attached red is positive voltage, black is negative, and blue goes to the Arduino.

How to Make a Remote Controlled Robotic Hand With Arduino

The resistors in the photo are 22K. I color-coded the physical wires in the same way as the schematic so you can see more easily. I soldered the circuit onto a small PCB from RadioShack, one that could be easily mounted onto the glove.

I was able to solder the wires to the sensors relatively easily also, and used heat shrink to make sure there were no shorts. I then wrapped the area where the wires are connected to the sensors with electrical tape to stabilize the sensors.

Near the bottom, where the leads are attached, the sensors are a bit weaker and the tape ensures that they won't bend too far and won't get damaged. Now it's time to mount the sensors and their circuit onto the glove. First, drill a tiny hole in the plastic of the sensors at the top, once the resistive material has ended. Be sure not to hit the resistive material!

Then, put on the glove and pull it tightly to your hand. This will tell you where to sew the sensors. Sew each sensor tip to the area of each finger just above your fingernails use the hole you just drilled.

Then, loop the thread around each sensor above both joints in each finger. Once each sensor is in place and slides under the loops of thread nicely, sew the PCB onto the wrist part of the glove tightly. That's quite a hassle. Also, make sure to re-drill the holes on the finger parts so the 3mm screws will act as hinge pins without causing friction.

I kept the screws in with a dab of hot glue on the outside of the fingers. There's probably a more elegant way to do this, but for a functional solution hot glue is fine.Note: This is an engineering design project. The procedure will show you one way to build a robotic hand, but this is just a suggested list of materials to get you started.

You can modify the design and substitute other materials. Curious about the science? Post your question for our scientists. This activity is not appropriate for use as a science fair project. Good science fair projects have a stronger focus on controlling variables, taking accurate measurements, and analyzing data. To find a science fair project that is just right for you, browse our library of over 1, Science Fair Project Ideas or use the Topic Selection Wizard to get a personalized project recommendation.

Next: Materials. Materials Note: This is an engineering design project. Next: Instructions. Science Buddies. Was this review helpful? Report Inappropriate Comment. Be the first one to review this activity.

Active Time. Ask an Expert. Post a Question. Log In to Leave a Review. Explore Our Science Videos. Introduction Do you know anyone who has had a hand or an arm injured in an accident? What if you could build them a robotic hand to help them accomplish everyday tasks like writing, picking up a glass, or opening a door? This activity will show you how to build a simple robotic hand using common household materials. Next: Materials Materials Note: This is an engineering design project.

Modeling clay. The clay can be reusable, air-dry, or oven-dry. How to Make a Bristlebot.To browse Academia. Skip to main content. Log In Sign Up. Engr Rana M Shakeel. A Components assembling The arm control by robotics is very popular in the world of robotics. It provides more interfaces to the outside world and has larger Memory to store many programs Approach: We were able to perform a detailed study of the robotic arm and the micro-controller.

We also learnt and familiarized with the micro-controller using assembly language, and converting the assembly language codes to hexadecimal codes using a development board. Mechanical Structure of the Arm: In constructing our arm, we made use of Two servo motors and a dc motors and gears since our structure is a three dimensional structure.

A typical prototype that we employed is as shown in Figure. There is a servo motor at the base, which allows for circular movement of the whole Structure; another at the shoulder which allows for upward and downward movement of the Arm; while at last dc motor at the wrist allows for the picking of objects by the magnetic hand. Program Counter: This is the "engine" which starts the program and points to the memory address of the instruction to be executed.

Immediately upon its execution, value of counter increments by 1. Control Logic: As the name implies, it which supervises and controls every aspect of operations Within MCU and it cannot be manipulated. They convert analog signals to digital signals. Oscillator: This is the rhythm section of the MCU. The stable pace provided by this instrument allows harmonious and synchronous functioning of all other parts of MCU.

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Timers: timers can be used for measuring time between two occurrences and can also behave like a counter. The Watchdog Timer resets the MCU every time it overflows, and the program execution starts anew much as if the power had just been turned on.

Methodology: The method employed in designing and constructing the robotic arm are based on the operational Characteristics and features of the microcontrollers, stepper motors, the electronic circuit diagrams and most importantly the programming of the microcontroller and stepper motors.

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A sample robot which can rotate, magnetize an object, lower and raise its arm, by being controlled by the microcontroller is built successfully. The development board is soldered and it used the required procedure for the correct operation of the controller.

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C Purpose of the robotic arm This robot is a mechanical arm, a manipulator designed to perform many different tasks and capable of repeated, variable programming. To perform its assigned tasks, the robot moves parts, objects, tools, and special devices by means of programmed motions and points. The robotic arm performs motions in space. Its function is to transfer objects or tools from point to point, as instructed by the controller In manufacturing industry and nuclear industry, a large fraction of the work is repetitive and judicious application of automation will most certainly result in optimum utilization of machine and manpower.

The end effecter can be a pair of pneumatic grippers, a set of multiple grippers, magnetic pick-up, vacuum pick-up etc. The device has its own in-built logic and all the movements of the device are controlled by the combination of control valve and reversible valve which form the vital part of the machine. A single pulse of air given to the control valve activates the reversible valve and admits air alternately to the two pneumatic cylinders during one cycle.

This causes to and fro linear motion of the common rack which is converted into the rotary motion of the pinion and ultimately imparts angular sweep theta and vertical motion Z at the end of each stroke to the head carrying the pickup arm with the end effecter.

The operating speed of the pickup arm can be varied to suit the requirement by operating the flow control valves provided on the two cylinder heads. During one operating cycle the pickup arm carrying the end effecter starts from its home position, goes to the other end, picks up the part and returns to its original home position.

The picked up part is delivered to the home position when the next cycle is triggere 1. They are most often used in industrial applications to move materials around a manufacturing facility or a warehouse. Application of the automatic guided vehicle has broadened during the late 20th century and they are no longer restricted to industrial environments.

The lower cost versions of AGV are often called as automated guided carts, which are available in variety of models and can be used to move products on assembly line, transport goods throughout plants as what our project demands.

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An AGV to be used here will be using path select mode which chooses a path it uses the measurements taken from the sensors and to the value given to them by programmer when an AGV approaches a decision point then it only has to decide whether to follow path among 1,2,3 etc.

This decision is rather simple since it already knows its path from its programming.

robotic hand project pdf

This method can increase the cost of an AGV because it requires to have team of programmers to program the AGV with correct paths and change the path as when necessary.Students build robotic models from cardboard and straws to understand the anatomy and biomechanics of the human hand. Then, they conduct trials visualizing data in Excel to generate new ideas for improving its performance.

Building Machines That Emulate Humans

Meets middle school science, technology, engineering and math standards STEM. A step-by-step guide for building the Sensorized Glove and the Robotic Hand. Includes templates, a list of things you need and detailed instructions. A customized Excel workbook visualizes real-time biomechanical data from sensor equipped gloves. Requires the Data Streamer add-in listed below.

A spreadsheet with links to online resources to help you bring these projects to your classroom. Pre-built code for your microcontroller to help you and your students visualize live data. Modernize your existing copy of Microsoft Excel with this free add-in to support real-time data streaming from your projects. The free Integrated Development Environment enables you to write code that connects your project to an Arduino microcontroller.

This project requires a PC running Windows To update your version of Windows, click here. Hacking STEM offers bite-sized, hands-on, teacher-tested projects and activities that use everyday materials to make STEM affordable, accessible, and fun for everyone. Browse our library for downloadable, printable materials. This site uses cookies for analytics, personalized content and ads.

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robotic hand project pdf

Learn more. Building Machines That Emulate Humans Students build robotic models from cardboard and straws to understand the anatomy and biomechanics of the human hand. Error loading video. Return Home. Lesson Basics Takes 1. A OneNote notebook. What you'll need. Customized Excel Workbook A customized Excel workbook visualizes real-time biomechanical data from sensor equipped gloves.

Materials List A spreadsheet with links to online resources to help you bring these projects to your classroom. Code for the Project Pre-built code for your microcontroller to help you and your students visualize live data.

Technical requirements. Data Streamer Add-in Modernize your existing copy of Microsoft Excel with this free add-in to support real-time data streaming from your projects.

Read more. Windows 10 This project requires a PC running Windows Need Help? Have Questions? Follow this page. Share this page.Add the following snippet to your HTML:. Read up about this project on. In this project; 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. 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.

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.

Or you can watch the video I shared. When assembling the fingers, make sure the parts are oriented correctly before gluing. Keep all servo motors at 10 or degrees before attaching the servo pulleys to the servo motors.

robotic hand project pdf

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. 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.

DIY Robotic Hand Controlled by a Glove and Arduino

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.

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I used 10K resistor. For the source code to work correctly, follow the recommendations:. 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. Log in Sign up. Intermediate Full instructions provided 10 hours 34, Things used in this project. Custom parts and enclosures.Add the following snippet to your HTML:.

A robotic hand that emulate the movement of your hand wirelessly through a glove with sensors. Project showcase by Gabry 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. This guide is still in development, sorry if some parts are not clear, I'll put some 3D images in future. To make the control glove I suggest first to choose the right position of the different components, then connect everything with the proper length of wire.

To make an analog read with Arduino LilyPad you need to make a voltage divider, since that flex sensors don't work like potentiometers they have only 2 contacts. So following the scheme, first solder the 5 resistor on the LilyPad board, one side to the 5 different Analog pins, the other in common to the ground. Then solder the flex sensors, one side to the 5 different Analog pins and the other in common to the positive.

Then connect the XBee Shield: two wires for the power, the oter two for the signal. Solder the Tx pin to the Rx and vice versa. And it still works! This is the most complicated part, because you have to choose the proper materials to make the hand, but it can be also easy if you have the possibility to 3D print the hand there are many different 3D projects on the web for printing hand parts.

I started making the fingers with cork, to find the proper structure for the movements, then I made it with a branch. So make three wooden cylinder per finger, two of them with 1 cm over the normal length of your phalanx, needed to fit one piece into another. Then with an angle grinder make the grooves to make the pieces fit together see the images, you'll understand better. Use a drill to make the holes for the hinge, then you have to make other two holes for the fishing wire, vertically, one towards the inside of the hand and one outwards.

So when the wires are set at the top of the finger, when you pull the one inwards the finger will close, and when you pull the one outwards the finger will open. The palm was problematic, because I made it initially with wood and the thinner parts always broke. So I decided to make it of steel and I've had no problems. Cut it and do some protrusions similar to those made for the fingers to fix them to the palm see the images as a reference.

Then use the drill to make the other holes for the fishing wire, the thumb will be tricky because it's not vertical as the other fingers. Afer making the hand, you need to make a support for the five servomotors and a support for the Arduino UNO boards.

Be sure to choose the right position of the servos, so they don't touch each other while rotating. Follow the last image in this step to understand better. So I used what I had already bought before, but you can use everything that let you control the servomotors and the XBee. I used the simplest type of servomotor, working at 5 V, with a rotary angle of degrees that's the perfect angle, we don't need more.


The USB ports of a computer can't give enough power to control 5 servomotors, so I suggest to use a 12V power supply to test everything and then use the 9V battery Alkaline are preferred.

Please log in or sign up to comment. Make a simple and programmable servo arm out of readily available materials! Project in progress by Andriy Baranov. Tired of controlling your robot with a joystick? Ever thought of controlling it with your hands?