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Hand robot InMoov

by hairygael, published

Hand robot InMoov by hairygael Feb 18, 2012

Featured Thing!

Description

Here is "InMoov", the robot hand you can print and animate. You have a 3D printer, some building skills, This project is for you!!

This is a hand built for a job (still picture commercial), it was supposed to be mobile but not animated and mostly be able to take human hand positions. Cables or fishing rods might be added in order to control it, but it was not the purpose of this work at first. I am now working on another model(for the fun), trying to animate it, I really would like to do it with computer control but I have never worked in that field. Never used servo's before, so any help is welcomed.

Blog:
inmoov.blogspot.com
Site:
www.inmoov.fr

A first movement video. I have to say that this video was not easy to do. I was holding the camera with one hand and trying to trigger the rods with the other.
I definitly need three hands!
youtube.com/watch?v=r_rQ2WJ0dq4

youtube.com/watch?v=JztSQpwZaRU

youtube.com/watch?v=zvbNcuUPHyQ

youtube.com/watch?v=BAs2F4sFVdA

Last of all:
youtube.com/watch?v=tojIdfywYVI

A demo using Leap motion to control the hand:
youtu.be/GOTRXM4O9L0

There is also the left hand model for the one that plan to make a complete robot, Arf, still quite a bite of work though.
thingiverse.com/thing:18939

Recent Comments

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Hi,
No problem. Already figured it out.
Is there any way so I can contact you? Email ?
Please do!!!

What is the status of the licence of this proyect ??

Probably I am doing something wrong ....

but I can only see the ring finger... :/

Hello,
Thanks for your comment, I have read your question but I can't see what you mean...

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Instructions

This is a work in progress, files might change until it is finished.
Print one of each STL files attached. I did it in ABS.
Before printing read all this, since the updates are on the bottom, it might save you printing time.

Find a full tuto here:
inmoov.fr/hand-and-forarm/

Print wriargeV3, wristsmallV3,thumb4 with an infill of 30%, 3 shells, best with no support, no raft.
Print auriculaire3,index3,majeure3,ringfinger3 with an infill of 30%, 1 shell, best with no support, no raft.
Print robpart2V3, robpart3V3, robpart4V3, robpart5V3 with an infill of 30%, 3 shell, best with raft.
Print coverfinger with an infill of 30%, 3 shells, with support.
You will also need the rotational Wrist: thingiverse.com/thing:25149
And the simple servo support. Available here : thingiverse.com/thing:65274


Big bolts are now printable. (Strong enough for me.)
You can replace the 16x3mm for the fingers with pins/pegs of filament instead of bolts, it's cheap, easy, and strong enough. It was a suggestion of FreddyA.

1x8mmx8cm bolt is required for to attach wriarge to wristsmall.
1x8mmx4cm bolt is required for to attach wriarge to thumbbottom.
1x8mmx6cm bolt is required for to attach wriarge to robpart1.
16x3mmx2cm bolts are required for all fingers hinges(I have recut each bolt to adapt to finger width)


Glue with acetone like on pictures:
Thumb4 flat parts together but Not the tip.
Finger flat parts but Not the tips(Be carefull not to mix them up, they all have a different size)
Redrill 8mm holes if needed.
If necessary reDrill all finger hinges with 3mm drill. If you plan on using filament pegs, redrill at 3mm(Be careful not to break parts)
Fingers should move freely.

26/02/12 Okay, I have added parts of the forarm, print without support but with raft. I have already set in some extra parts intended to support overhangs in robpart2V2, robpart3, robpart4V2, robpart5V2
Once printed remove the added supports and the anti-warp structures.
Make sure to remove only the added parts and not the servo brackets.
Redrill the brackets if necessary.
Glue with acetone Rotawrist, robpart2v3 and robpart5V3. Make sure the servo brakets are aligned.
Glue together robpart3V3 and robpart4V3.
Mount the simple servo bed.
Fit and bolt in the 4 servos HK15298.
Wire the servos to the exit of Robcap..
Run from each servos two rods of fishing Braid 200 LB to the tip of each finger. Make sure not to twist them on the way through. When passing the bolts of hinges, one rod has to be over and one has to be under. Add on each bolt a ring2 in the hinge. Set your servo in to max position suposedly with straight flat fingers with the horn set to full pull out. Secure the rods at the tip of fingers by making two knots + a drop of cyanocrylate glue. Rods have to be tight fit between the horn and tip of finger.
Once all fingers are wired through, glue the tips of fingers with acetone.

Mount the "topsurface" on the back of the hand with 3mmx2cm bolts.
Glue the coverfinger on top of fingers. Make sure movement is free with hinges.

Update 15/03/12: Big Cover for the right hand ready and uploaded, servos and Arduino arrived and almost installed. Added little cable holders to glue, and an Arduino support (thanks to Jestin and pchretien)

Update 21/03/12 I redesigned robpart2 to robpart2V2 due to missing piece of bracket( Thanks Wulfnor)


Update 28/03/12 you can download the scripts for Arduino to either do the pattern motion shown in the last video or use your keyboard to control the servos.(you need to install serialterm for keyboard control)Thanks to Crazy Jaw for the help.

Update 01/04/12 of Wristsmall1 to WristsmallV2 avoids the motion from closing too much the hand. Also added holes for positionning topsurface4.

Update 02/04/12 of Wriarge1 to WriargeV2, added holes for positionning topsurface4 and two cages for nuts at end of 8mm bolts..

Update 18/05/12 printable bolts, changed "robpart4" to "robpart4V2" for to receive the arm piston. see blog

Update 16/06/12 I have uploaded the rotational wrist.
see: thingiverse.com/thing:25149

Update 22/06/12 I have uploaded the new brackets and modified "robparts" mentionned on my blog.
see: thingiverse.com/thing:25465

Update 22/06/12 Uploaded "robcap3V1" for to close the elbow of the forarm.

Update 23/06/12 Modified all the fingers2 to version3 for easy mounting, also modified wristlargeV2, wristsmallV2 to V3 version. All holes are ready, and the hinges are ready to be assembled. Rings are already set in the hinges.
Update 16/07/12 Modified thumb4 to thumb5, oddly it wouldn't fit into wristlargeV2 anymore. added the hole for attaching the cover.

Update 06/08/12 Added InMoovPowerGlove (Thanks to brianhomer)
The zip contains a PDF diagram for connections and a sketch to upload on your Arduino board.

Update 17/09/12 I have uploaded the bicep parts.
see: thingiverse.com/thing:30654

Update 03/01/13 I have uploaded the shoulder parts.
see: thingiverse.com/thing:40040

Update 20/01/13you can now download the torso parts at
cubehero.com/physibles/hairygael/Torso_for_Robot_InMoov

Update 27/02/13 you can now downoload the neck with mechanism
cubehero.com/physibles/hairygael/Neck_Mechanism_For_InMoov/print

Update 12/12/13 simple servo bed is now the default mount system for the servos. robparts are now changed to robpartV3 to simplify the comprehension. WristLargeV3 is changed to WristLargeV4, the linings inside for the rods is more simple and will not get mixed during pathing. Rotawrist replaces robpart1.


Still working on instructions text...

File Name

Downloads

Size

Hi!

Great work! I was wondering if you had any idea to only print several prints?
Thanks in advance.

Regards,
Elias
Hello,
Thanks for your comment, I have read your question but I can't see what you mean...
This comment has been deleted.
Hi,
No problem. Already figured it out.
Is there any way so I can contact you? Email ?
Hi!

First of all, I want to say your project is incredibly awesome. Congratulations for all the hard work you'd to do!
Then, I was looking into the first part of the hand's articulations (these which are in the palm) and saw there were two different types. One which had 3 ducts and another with a type of square (with no ducts in the end). Why is this and why not using only one of the two types?

Thanks in advance! :)
Hi,
Thanks for your comment.
You are looking at various iterations because my project InMoov is a work in progress.
I don't know where you still got the old version STL with squary type, but we are now going for the 3 ducts type.

Regards,
Gael
I got my hand up and running for the most part... What the amperage on your power supply? I am having problems powering between 4 and 5 servos with a 9 volt batter, 600ma external and usb connection all combined.Also, rather than getting a second arduino for the rest of hte bot, i think i may get a servo sheild (https://www.adafruit.com/products/1411#description-anchor), which looks like it makes things a bit easier.
You can use a 6V 3Amp if the servos you are using are the one I recommand. The servos should be powered through an external power supply but Don't forget to ground the Arduino board to the that power supply as well.
See drawings on the site:
http://www.inmoov.fr/default-hardware-map/
These two students didn't mention anywhere about InMoov or Gael Langevin. We have already been aware of this infringement and we got in contact with the University. If no action is done from their side very fast about this situation I will contact the medias.
Please do!!!

What is the status of the licence of this proyect ??

Probably I am doing something wrong ....

but I can only see the ring finger... :/

I have already mentioned Robohand on my site and I am fascinated by this project, good job ...
hello, printing all the hand and arm at the moment, setting up the files for printing on the rest of it all. but i cannot find the head section to download?? can you help me with this part at all?
Hi, you will find all the links directly on my website.
http://www.inmoov.fr/download/
Hi Gael, How much does it cost you to print the parts for the hand? I was quoted AU$1000 to have it done and I wanted to know if that's higher than you expected
The material cost to print the hand is about a 1kg spool, usually like $40 (US). Of course, need also need a $1000 dollar machine to use that...
i am not able to download any of the files as it says some Certificate Trust
.stl is also an extension used by microsoft for security certificates and is usually associated to another application in Windows. Download the 'all files' zip and then, after extracting, right click and select 'open with...' From there you can select whatever application you want to open the stl with. There should be an option to set your selected application to open all files of this type. Or, as mentioned, you can open your 3d application first, then use its 'Open' dialog to select from wherever you unzipped your archive.
Sorry this has nothing to do with the STL files but with your Internet configuration.
hairygael, I am having trouble printing the finger "covers". They don't seem to print right. I have heard that they can be "stood up" and printed. Would they not have to be separated so that they can stood up to print?
The finger covers need to be printed with support. They aren't flat under that is the reason you are having problem to print them. I did print them up, put you need to create a file where their position has a 20 degree angle before slicing to make sure they print nicely, and support is also necessary.
I really like this project. I chose this hand above all others posted here because it most reflects the actual movement of a human hand. Very, Very well designed!
Thanks a lot for your comment.
I loaded the STL files in makerware and then slice and save to SD card.. then when I go to print them the files do not show up on SD card.. thoughts?
There I can't help you, sorry. I use Kisslicer to slice the parts. Then I upload the file on USB stick and print in a 3D Touch BFB.
Are you saving from Makerware directly in your SD card or to your PC?
I would suggest contacting Makerbot.
I am saving directly from makerware to the SD card.. any other file I load is visible on the SD card when I put into makerbot
Hairygael, would you be able to upload the source files? either an IGES or whatever source format you used so we can slightly modify it? Thanks!
No sorry I designed all my parts in free form using Blender. But if you go on my site, in the download menu, you can find a link to CAD files.
Really amazing project! I will buy me a 3d printer because of this project.
I think the problem with the multiply keypress at the same time causes that your keyboard not supported this over bluetooth. Try to plugin over USB or try another one.
Thanks for your comment. The video with the keyboard is now pretty old. There is actually solutions using MyrobotLab for keyboard.
Man! I really wish I had a 3D printer! I'm making a robot arm uing an Arduino Mega 2560 and air muscles, and had initially planned to cast the whole thing as a real human skeleton in aluminum copying a keletal model. Thi would be a great way to test my setup and get something put together quickly though! I'm almost done building a ensor glove out of a Nintendo Power Glove, just waiting on a few parts and would LOVE to be able to test the system on this design more quicckly than completing the skeletal system first.

Awesome design!
I'm aware of 2 InMoov hands attempt using air muscles, but I haven't seen thir recent progress posted on the InMoov site.
I have used a Leap Motion to control the hand instead of a Power Glove, the results are pretty impressive although maybe less accurate than a Power Glove. See video youtu.be/GOTRXM4O9L0
Hey thanks for the reply. I have since gotten my own 3D printer and am working on printing the parts out.I also modeled my skeletal parts and am working on finding a way to print them really accurately even though they have basically no flat surfaces, and getting the settings on my printer just right to print them as perfectly as I can. I am going to do lost-PLA aluminum casting for them for the arm so it's more robust than printed parts.Here's a screenshot of my model of the hand: i.imgur.com/dVGocoF.jpgIt's a work in progress but that's what I have so far. The fingertips will be shaped like fingertips instead of the bones. That's why there's no joint between the last two bones yet.
I also abandoned the Power Glove idea and plan on using a combination of an EEG headset and EMG sensors for muscles. Still going with air muscles but I have to get the skeleton made before I can try them out on anything.
Do you happen to know where I could see the air muscle projects you mentioned?
here is the video demo of air muscle test:
http://youtu.be/6FqqP4nKd_U
Olá, vi a matéria no Fantastico hoje, e gostaria de saber se é possível fazer próteses desde aqui!? Estou interessado em fazê-las para pessoas carentes aqui no Brasil.
Hi Rodrigo,
you can join me on the InMoov forum, you will find the link on the InMoov website.
Thanks for this robot, I can't imagine the time you spend to create that, and even more to make tuto to let other do it thanks a lot !
Ddo you have the project to make it walk as well?
Concerning this tuto, I just wanted to notice that the "robpart3" and "robpart4v2" seems not suitable with a formarm with rotational twist, so maybeyou could say in your tuto : "to the people who whish print a rotational twits formarm print "RobPart3V3" and "robpart4V3" (available there : thingiverse.com/thing:65274/#instructions). But I didn't try so maybe I'm wrong.
Well you are right and wrong concerning "robpart3" and "robpart4v2" :)
Because of iterations, I modified some things on the rotational wrist. But "RobPart3V3" and "robpart4V3" are mainly to fit with the "simple servo bed". I wanted to remove "robpart3" and "robpart4v2" and also "robpart1" but came to realize, some people might still need these iterations. I know I do because one of the arm of my robot is still with the first iteration and if i need to replace something, I will be happy not to have to reprint the whole forarm.
But all that said, you are right, I should mention something in the instructions.
Thanks for sharing this, great job
I built one but I'm not sure what to use for the strings, is there any standard material or product for the strings, I was thinking of fishing line, how would that work?
Hi, Just like PCMlab responded, I recommand rods of fishing Braid 200 LB (90kg)
According the Inmoov website they use rods of fishing Braid 200 LB (90kg)
Precisely, thanks for helping :)
I have printed and assembled the hand and have it moving with an Arduino. I am interested in the code for using the Leap controller. Do you have any additional information to share on the Leap implementation (code, etc.)? Great work!!
Hi there is now a tuto on the website under the "Assembly" with codes.
Hi Gael. I'm an Italian painter and i've just started printing your "son". I can't' wait to make it move. I'm a little bit confused about the servos needed for the hand. You suggest the HK2598 but I don't' know where to get them. In another discussion you suggest the HK15298 that are ordinable in the Hobby King site but there is a complication because they move just 90 degree and you have to do something I don't understand so well to make them go 180 degree... which is the best and simpler choice?
thank you for sharing this unbelivable project
hi,

HK2598 don't exist, it was a mispelling. HK15298 are available by Hobbyking, I solved the problem concerning the restriction rotation of the these servos by creating the "simple servo bed".

thingiverse.com/thing:65274
Make sure to use the "servo pulleys" instead of ""robring" if you can.

If you have further questions please come on InMoov forum. Thingiverse doesn't alert me when a new message is posted here.
Hi Gael, I really like this project you have and very keen to make one myself. However I have no prior experience in servo or Arduino, is this something that I could easily pick up and learn? I'm a chemical engineer by training but now a bioengineer. Any tips you can give me will help a lot. Thanks.
I suggest to print first the Finger Starter Kit and follow the tuto on how to assemble and use the software.

thingiverse.com/thing:67709
Great! Thanks, will do so.
Dear, it is really great.
I also try to print MAKERBOT'S robot hand.
But that is too small.
Because I use the REPRAP, so dear, whether I can get this out with REPRAP?
Thank you so much.
Depends which Reprap, but I designed all the InMoov parts to fit on a printer size bed of 12x12x12cm
is there any place to get the robpart 1-5 printed for cheap? My 3D printer cannot print the height. Thanks.
You can use Netfabb studio free version to cut the pieces as you wish.
awesome job. you have made a hand that is both super functional and strong and aesthetically pleasing.
Thanks a lot
Fantastic work. Thank you for sharing this.
Can you leave some pictures showing the orientation of the parts that are glued to each other?
Please check this tuto:
Assembly of the "Finger Starter"
http://inmoov.blogspot.nl/p/assembly-help.html
and these sketches:
http://inmoov.blogspot.nl/p/assembly-sketchs.html
Hey man great job. I just printed some of the parts and noticed that I am having trouble getting them to fit together mostly wriargeV3 and wristsmallV3 is this a printer tuning issue?
Thanks for your comment. It is certainly due to the accuracy with your printer. These parts are meant to be pretty well adjusted.
The exterior shell on robpart3 does not start at Z=0 and the support
starts at Z=0. It didn't matter much on my printer because it is very
precise, but it might prevent others from getting good prints. This
should be fixed.
Fixed. It has been downloaded 2860 times before someone had a problem with it!
I just saw the same thing in robpart4v2. I suspect other parts have this problem.

Making it level at the bottom will also prevent problems when printed with a skirt around it. Before, the skirt would be printed underneath the actual piece as the circumference of the first layer was quite smaller.
Hmm. I just printed the first couple of parts for this, but I'm having trouble getting the 8mm nuts into their traps on the large wrist. Is this due to my printer tuning, or am I using the wrong size nut? Even trimming out the trap and heating the nut doesn't let it slide in enough for the bolt's threads to actually engage.
Hmm, most likely a printer tuning problem. But even though the hole is designed as a a drop shape, I find it is always difficult to fit a 8mm bolt into a printed hole of the same diameter. I almost always re-drill the holes, like mentionned in the instructions above.
WristlargeV3. The denomination wriarge was initialy a problem with Thingiverse which would reduce that name when uploading the file.
I cannot find wriargeV3 file in the downloads, can someone please upload this file ? I am excited to build this hand. Thanks in advance !!
Hi Gael,
Thank you very much for your robot designs, they are wonderful. I have uploaded a picture of my print in the "made" section on thingiverse...

thingiverse.com/derivative:34740.
The only difference with my print is that I am trying to make 2 robots simultaneously. The first one is full size and one is 1/8 scale (1/2 size in each dimension). This is an experiment to see if it is possible to build a smaller version, and to try to solve the engineering challenges with scaling down components like the servos. I will post my progress. Thank you again for your work on this project!
Fantastic! A mini InMoov, please let us know on the InMoov forum how things are doing.
Hey Gael, so I just took 2 months fo print and build one of your arms and I'm finished. It looks beautiful. It grips things very well. I built it because I want to create a laundry folding robot for the home and sell it to people for under $2000. I just realized your designs are under a non commercial license. Is there any way I can have permission to use your hand to create this robot? Can we talk more about this? I want to change the world. My email is [email protected]
Can you please make a picture tutorial for constructing the hand?
Hi, it sure would be a good thing! But it would mean taking apart the hands I have assembled. Or printing a new hand and forarm just to make the tuto. Are you having troubles understanding the order of parts? Have you seen the "sketch assembly" on my blog?
yes, that helps thanks Gael.
Thing ( the hand from The Adams Family tv show )

youtube.com/watch?v=gFD7KGBUtKI
is coming along nicely. Looking forward to fitting servos and putting him in a box. The idea is to get him to open the lid. Would love to be able to snap his fingers, but may be too advanced a move just yet.
Snaping the fingers is something I did try, but many of our printers are not really well tuned, and the difference between PLA and ABS prints makes it even more difficult. Hope to see a video of what you plan to do.
Hello Hairygael. I was wondering how you made possible the HK15298 servo to rotate more than 90 degrees. Can you please help. Thank you.
Yes i have this exact problem!! Gael could you please post your arduino code that lets it rotate more than 90 degrees? I suspect it might have to do with altering the pulse width in servo.h. or did you manually open up the servo?
Hi, I didn't open up the servo or do anything special with it. I don't use an arduino code lately, but python codes through the services InMoov in MyRobotLab. The Arduino code available to download as a Motion4servosketch.PDF above should let you move the servos from 0 to 180°. If you turn the actuator of the servo by hand, does it do a 0 to 180°? I checked Hobbyking in case they would sell two sorts of degree servo HK15298 servos, but no.

I'm not a specialist about servos as you know, but if you need more help please post on the InMoov forum and we will try to help you.
We are about to print the hand soon, do you have any suggetion about it? We are thinking about using orthodontic (pro-dentist) cable for the fingers movement. We are tinking about this getmyo.com about the hand control. Do you think this is possible? my email [email protected]
Any personn interested about this project can contact me.
I am doing something similar to this also. I am doing my engineering thesis project on EMG signals from the arm to control the InMoov hand.

Once I get my myo I would also like to integrate that. But for now I am doing a signal processing assignment to use muscles in the forearm to control the hand like a prosthetic.

Thank you hairy gael for this great open source project! I will keep you updated on my progress.
I never tried the (pro-dentist) cable, so I could not help you on that. I think the Myo should be usable for your project with InMoov, and is a very interesting approach but I'm not a developper, so I would know how to proceed though. I guess it has to transfer through a PC back to the microcontroller to actuate the servos. Might be a shorter way though.
Hi hairygael, I contacted you a few month ago about a project I am working with LabFab.fr in Rennes, France. We would like to print your robot hand and find a way to adapt it for hand amputes.
Yes I remember. So how far are you now with it?
Well, we are still at the start, looking for financement. It's a 1 year project Do you think the Replicator 2 is precise enough to print the pieces? What would you advise? Many thanks
I am using the Replicator 2 to print the InMoov and am also make a prosthetic hand, but for my final year thesis project in engineering. I woud be very interested to see how you are going with this project.
Hey! Great project! Is it just me, or is MakerWare 2.0 rendering a too small raft for robpart4v2.stl ? The .stl looks good for me. If anyone can confirm this, I'd file a ticket.
Hi, I don't have MakerWave, but Robpart4V2 as anti-warp added, and I'm guessing your software makes raft only for the anti-warp.

If you want to remove the anti-warp, follow this link:

groups.google.com/forum/#!topic/inmoov/n4tOkMjNBCM[1-25-false]

Do you plan on making the bicep? If yes, you shoud consider printing these parts instead:

thingiverse.com/thing:25465
Why do the ring and pinky fingers bend farther backwards than forwards when they attach to the palm? It seems like those parts are partly backwards from the pictures.
Ah I see, thank you for replying.
I have some questions about your stl files and their upload resolution. Can we get in contact over email?
Did you find the solution?
topsurface4.stl seems to be the hand back for the left hand, not the right hand.
disqus.com/thingiverse-5f6f704230e538d2f853a12817e674e9/

"topsurface4.stl" is for the right hand, I can confirm.
Hope this helps
Hello Hairygael. I was wondering if you could please provide specifications of the servos? Many thanks.
Hi VeeBee, check the BOM on the forum of InMoov's blog for more info.
https://groups.google.com/forum/#!topic/inmoov/F8ph0HVsp9l
I recently purchased these(HK15298 Hobbyking), and they seem better then what I used at first.
Many thanks Hairygael.
Hello Hairygael. Many thanks for sharing these files as well as advise. I was wondering if you have designed 3D fingertip sensors for the 3D fingers?
No, sorry not yet, I want to try using FSR sensors, but I haven't enough time.
What kind of servo's would you recommend using for this?
Hi, check the BOM on the forum of InMoov's blog for more info.
https://groups.google.com/forum/#!topic/inmoov/F8ph0HVsp9I
I recently purchased these(HK15298 Hobbyking), and they seem better then what I used at first.
Hi hairy, I need to cut all the finger tips off so I can install better wire that doesn't stretch. Can you put the last two parts of each finger and the thumb onto one plate, so I can reprint those without haveing to reprint each whole finger again? Thanks for all ofthe work you have done here. This thing is very cool. Check out my copy on the bicep page.
Hi Fox, I had to re-cut mine a few times, unfortunately during my research. Using a cutter knife at the glued point normally finally seperates the parts without damage. As info, you can also use Netfabb free version, it allows you to select and delete parts in a STL file when you want to just reprint a section. Let me know on the forum, if these solutions don't do the trick and I will make a file with only the tips when I get a bit of time.

I wish, I could tell to all new builders to use fishing Braid 200 LB instead of nylon rods
Hi Gael. I have had a slight problem where I have had some parts break on me when redrilling the holes to 3mm. This is more of a printer issue then your issue, but I need to reprint only certain parts of the fingers.

I tried using the Netfabb free edition, but on for instance Index3.stl it only shows up as one part, and I can not for the life of me figure out how to cut the parts I don't want to reprint out. Am I just being blind, or is there a problem?
Does anybody have any suggestions about where to find .8mm nylon rod? I'm in Canada but I will buy from anywhere. Loving this project!
Hi Taaang. You may purchase the fishing Braid 200 LB from ebay. It should be quite ok. I have just ordered one for myself (have just begun work in this area).
Hi Taaang, search ebay for : fishing Braid 200 LB, this will be even better then what I used. I find out nylon rod stretchs after some time and the braided fishing line doesn't as much.
Thanks Hairy! Also great work keeping up with everybody's posts!
This project is phenomenal! I'm printing it for a school project! I will post a vid when i'm done! Thank you so much!
Great, let me see pictures when you have the hand done, I always enjoy it.
Very interesting project. It would be a good idea to replace the servos with stepper motors for more precision and strength. On the fingertips some pressure sensors (piezo??) could be attached. The whole thing should be controlled by are µC with a CAN interface. The CAN bus connects all µCs in the robot (one for each body part, hand, arm, etc.), in the head a stronger processor like an Rasperry Pi could be connected to CAN network controlling movement, interfacing etc.
I'm currently working with ARM µCs like the LPC13xx and LPC17xx series, they would fit very good, as they have a CAN interface.
Thanks for your comment. I think you are right, stepper motors would give better accuracy, and it finger sensors definitly would make improvement in grasping control. I'm planning to add sensors some day but they are expensive for ten fingers. As for controlling I used Arduino because of it's Open source potential and price. Any low price sensors to recommend to plug to the analog pins?
Force sensitive resistors would work well on the fingertips and can be had for only a couple of dollars. sparkfun.com/products/9673

Or you could make rudimentary pressure sensors with conductive thread or antistatic foam. instructables.com/id/Conductive-Thread-Pressure-Sensor/
Well in automotive industry there a technique using the pwm input to detect when someone blockades the window opener , don't know exactly but I'll try to figure it out
I was wondering if you could join the forearm better for people with larger printers. joining robpart3 and robpart4v2 as well as the other side. It would help a lot! 

Thank you!
Hi Easton, I have helped you already a few times on your project, but you never replied when I asked you twice by mail about what sort of camera you use. Not very nice.
Actually a friend named Kim made it. I have a video of it moving on youtube. youtu.be/uEDpav-vkI0
Yes great video, I already made a comment, The movements are nice and smooth, I can see they gave good attention to the gestures. thanks for posting!
Hi there, just wondering. I'm printing out the WristSmallV3, for left and right hand.  But on my TOM, it comes out fused together instead of separate like in some of your videos. Is it possible to re-upload the part for each finger separately, so that I can print them individually?
Thanks!
 Hi elchan, give me your email and I will send it to you. But as I see it you need to tune a little more your printer, because you will encounter this kind of "fusing" with many other models, I think. Also you might want to get Netffab free version, it allows you to remove parts in a STL file when you don't want to re-print every part of it.
Hello! i am a hand amputee and I wonder if your hand would suit a human being!
I actually use a myoelectric hand and want to "customize" my gear, I am looking for people interested to realize my project which is to play piano. I ause 2 sensors, to open and close the hand. As i have a long residual limb I can still feel my fingers, and I think it is possible to only control the thumb or index. I do believe in my dream and when i see your videos,  i really thing it's possible. I do know you through Labfab in Rennes, france a group of people passionated in technology. Congratulation for everything you do, it's fantastic. Bravo!
Hi, I am pretty sure the hand/arm could be suited to a human. But as I said in some other comments, it really needs to be adjusted to become fully fonctional. For example, I think something needs to be done for the touch of the fingers so they give feedback to the servos to be more precise. Nylon rods should be improved with none streachable material. But all those improvments can be done.
If you read under the other comments, there is people that are working in that field, and I am sure they could help with myoelectric sensors. If you need help send me a mail and we will see what can be done.
And thanks for your comment.
Hi, I am a Doctoral candidate working on a rehabilitative robotic glove. I would like to use your model in some of my testing but need to modify the hand a bit. Would you be willing to send me the original files so that I can make the necessary changes. Thank you.
Hi, I am an ampute working on a robotic hand suitable people in my case. What is your rehabilitative robotic glove about? A glove that looks like a normal hand? Thank you;
 Hi, I have been asked for the original files quite many times, but unfortunatly my Blender files aren't any better than what you can download on Thingiverse. To make it short, I work by exporting my files from Blender in STL to "check" them under Netfabb and reexport them as STL into Blender... I know it's not really the way to do it, but I work my way like this. What I can advise you is to do this trick by looking for the link robosavvy:
http://inmoov.blogspot.fr/2012/07/why-not-in-orange-see-httprymdstekel.html
Hope this helps.
Hi:
First of all, I would like to congratulate you for this great job. Thanks for all!
Now that I have finished printing the entire arm, I'm a little confused with the electrical part.

-My first question is about the servomotors. The type, voltage ... I'm a newbie in this world ... Is any particular type of servomotor?

-My second question is about the number of servos. I see 4 servos in the original version, but I see 5 servos on powerglobe version.
¿could control 5 servos with the same Arduino board?¿there will be space to put the fifth servo in the arm?I wish I could move the 5 fingers separately, and maybe later make a powerglobe.

-My third major dilemma is the control program. Where I can download? Work for five fingers?

Thanks for your help and sorry for my poor english. :(

EDIT: sorry, I just saw the program for 4 servos! I'll look a little before asking ;)
 Hi Yamagata, thanks for posting a picture of your print, I really appreciate. I also like the color combination you chosed. I sent you PM so we can discuss your servo dilemna
Im alright with servos and programming and would like to replicate but I have no Idea how printing works and Im new to this site!
 I have sent you a PM.
Nice project.

Did you print it using a Makerbot?
Hi, no I use a 3D touch with a home made heated bed. But parts are designed to fit a bed size of 12x12 cm. The Replicator should do just fine.
With a Makerbot you should print the rotational wrist instead of "robpart1". "robpart1" is too high.
You mean WriteSmallV3, instead of robpart1?
no, the rotational wrist: thingiverse.com/thing:25149
is the thumb-part missing right now? the last update makes a mention of a "thumb5"-part which i cannot locate.
I know, I am in a place with poor internet connection at the moment, and I can't seem to upload thumb5. If you are desperate in time send me your email and I will send the STL.
Uploaded! :)
Hi, fantastic work on your arm! I have sent you a mail concerning the blend files. ;)
Can you update the forearm parts without the brackets in them for the new brackets you made?

Thank you :)
Done! Wow even though it looks like a easy thing to do, it took me 2 hours...
That's CAD for ya haha. Have you thought about or been working on a new design for the fingers? A way that they could almost snap together and less labor to assemble? Look at the hand that i have on here for some ideas. If you need any help testing or making new designs i would be more than happy to help :)
I'm working on the arm at the moment, fingers will have to wait. Unfortunatly, I don't have enough time. Did you work yourself with the Blender files?
I converted them to work with them in solidworks. I am going to try and make everything easier on it
Wow that is an amazing piece
Thanks for the comment!
Hi - try making just some of these as possible hand mannakins for art. I bet you could sell a few on Ebay.
Good suggestion but even though the printer does a great part of the work, the assembly is still a task that requires time.With my steady job that keeps me really busy, I have just a little bit of time aside for to build this project...
awesome design. I'd love to print this if it weren't for the manual drilling of holes for the hinges.. is there a reason these holes aren't part of the design..?
Thanks for your interest, I made this design and build in three days time for a job. And wasn't sure how it would come out on my printer. I haven't come back on the design of the fingers yet, that's why.
I'm still working on my right hand. I've got two fingers ready for final assembly and still trimming, filing and drilling the others. There is quite a bit of cut and drill. I've broken some things too. It makes it slower considering I'm a perfectionist. I'm a lousy hacker.

Could you post the design files? I'd like to try revise them to align and trim on the digital files so we can just print and assemble. :)
Maybe supply us *.stp or *.step format? *DONT_KNOW*
Wow, it seems like you print those parts full with support, to have so much work on them. Last week I printed a complet hand with forarm and got it running with servos in two days. Just teasing don't take it bad. I can send you the Blender file by email but it's a real mess, I think I'm the only one that can figure out what's usefull in there. Like I said I'm no pro in 3d. I think you are better off reworking the STL's. Let me know
Hi - I used no support for printing. I did not notice - until today - that you assembled your hand by committing the fingers to the slots then drilling and bolting. Following with trimming material until they could move. Right? I tried to trim and then assemble. Poor approach. I did get most of my hand together yesterday. Next to place the servos which came in a week ago.

Why did you use one servo on the ring and pinky fingers?

So, if you printed and built in two days a hand and the forearm then that means a robot in a month. For me - sometime in 2015. ;-)

I did try to workyour thumb STL into a CAD program but, not a worthy effort. I can't do. I may try sketchup
, but your Blender files would be helpful. I dream of print and assemble.
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Say, have you seen the Pololu Maestro - good servo controller. GUI manipulation and recording, ability to program and on board memory.
Couldn't comment on youtube for some reason.

You need a better keyboard, the feature you are looking for is called "n-key rollover", that should fix the multiple fingers at once problem. en.wikipedia.org/wiki/Rollover_(key)
Aah, thanks this is certainly the reason. I will try with all the keyboards of the house to start with!
Okay I have a n-key rollover keyboard after tests. But according to Crazy Jaw, who helped to configure Arduino/serialterm, it comes from the Aduino sketch and also serialterm. Crazy Jaw modified my sketch but serialterm is still something to look at, to make it work.
Take a look at my video (sadly also marketing plymouth uni) its about my robotic hand i made several years ago, all controlled using micro servos... Im going to adapt my product i made and add this hand to it... its gona be sweet!

youtube.com/watch?v=wWp7KCe0ZIY
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amp;list=UUH-qOy6MGqB2KVNlR4GPOAg
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Great! I had seen your video when you posted on James robot hand.What I was wondering about is, could you control it or you had a random program that would move the servos? Did you use Arduino?
hey, i have questiond about robpart2.stl. It seems that there is missing part of serwo bracket
Yeah Wulfnor you are right, I designed it without that piece of bracket because of overhang, then I came up with the idea of making my own support parts, for robpart3,4,5 but I didn't redisign it... Shame of me. I have a 30 minutes spare time, I will redesign it now.
That is spectacular. I wonder, could we use a glove as a controller for it? Same idea as moving it with the servos to pull on opposite cables,
 use the same kind of cables to turn a potentiometer, which would measure the position of each finger - then send that to the servo. I don't think it would even require a microcontroller, I think a servo and pot for each finger would do it. Just think of the possibilities of a remote-operated han
d...
Hi Mjolnir, Sorry I'm not sure to understand, do you mean controlling the hand robot with a bend sensor glove in order to control the servos of each finger? Like EastonL did bellow? I would love to achieve that, if that's what you mean, but I'm just a beginner with servo controlling. :)
Made the first part wriarge1, Nice. Would love to see the knuckles seperate for spread of fingers and the bolts replaced with pins we can make. Outstanding, will make left derivative.
Fantastic your the first "I made one". I was wondering if I would see anybody's copie. I'm already working on the left hand derivative with new extra parts for to render a more human look alike hand, I was waiting to be finished...
Very nice, what are you making those accent parts with? any thoughts about incorporating those additional parts into the corresponding stls? I'm having trouble with skeinforge on the Majeure2 keept giving me TypeError: 'NoneType' object is not iterable still working on it.
For now they are shaped directly in FOREX
® rigid foam plastic sheet. But I'm currently working in Blender to provide STL's of those shapes. Hope we can print them as well. I don't use Skeinforge for to slice, I use Kisslicer, I will try to see if I get the same error then you with skeinforge.
I just tested it under skeinforge 43. I didn't get error... Try to Re-download the file maybe, it's maybe corrupted.
Using 43 worked but the print paused a few times causing a few blobs. So the file is fine and thanks for trying that out. I'll have to check out Kisslicer. Still printing! I'll post another "made It" once all the parts are done. So far so good!
All done with this right hand, not quite picture worthy but I'll get around to posting it anyways. Overall a great disign, I used pegs of PLA cut to size and printed some hollow pins for the biger joints instead of using crews, too lazy to go out in the rain to get harware. Was my first print on my machines so I am pretty proud of it. I think I will just prop it up as a sculture, a true work of art. Meanwhile im printing the left hand and its comming along alot better. this one i will ad the servos too and some LED inside the tips for translucent effect on the natural PLA. Also found some inexpensive touch sensors perfect for the fingers. Are you going to continue on with the elbows and shoulders?
Fantastic! Please post a picture, it's aways interesting to see how you manage the same files with different machines. Concerning elbow and shoulders, yes I do think about it but I want first to make the hand fonctionnal, (we might have to add little ring prints inside the fingers...) For the shoulder and elbow, I think servos won't do it,because the complete arm printed with servos and arduino set in it, weights 820Gramms.
What is the grip on hand? Where do you get it?

Also you said something about the servo brackets in the forearm, where are they? i see notches but nothing to really attach a servo too. thank you :)

I have done something similar to this, I am the creator of this:
http://www.youtube.com/watch?v=xzLEB42pR5Y
and this:
http://www.youtube.com/watch?
v=ZYKoNi48m9o

I was also featured in the septembers issue of popular mechanics for my wireless animatronic hand:
http://www.popularmechanics.com/home/how-to-plans/backyard-genius-2011-the-years-10-best-diy-creations

I have code and everything for controlling a servo wirelessly with a control glove
giving you the mimicking motion:
http://www.instructables.com/id/Arduino-Wireless-Animatronic-Hand/

Feel free to email me: [email protected]
Hey, I had already seen your videos on youtube, and I have to say you did a great job. I hadn't stumbled on your "instructables" but it'is definitly a source of inspiration. I have never played with arduino nor servos before and I'm impressed with what you achieved. As soon as I get my servos I plan on testing them in the forarm, I have to be patient, post is slow on the moment. As you saw I reserved brackets and spaces for them and the arduino in the forarm. They will be tilted sideway. If all this works, I'm planning to try with air muscles and why not with wireless, like you did. Of course if I use your codes, I will credit you.

Concerning the grips, I used fast hardening transparent silicon colored in blue with Universal paint colorant poured directly on the prints(contrained and cleaned up with a brush and white spirit). It works great. But you could use bathtube silicon sealent slightly diluted with white spirit, it will take some time to harden though...
Thats great! I'm hoping to use this for the next version of my hand and forearm. I have a whole arm built and once i get my printer i am going to upgrade more and more. Let me know if you need any help with the setup or anything or code. Im curious about the pinky and the ring finger swivel motion. It looks like there is some kind of bushing like metal tube over the bolt. Is that true? Also would you need a separate servo or something to actuate the thumb swivel? or when you actuate the thumb it also actuates the swivel motion too?

Thank you!
The bushing over the bolt was only for the look, since it was made for a commercial picture, but it's not necessary. I have planed only 4 servos for now. Ideally would be 7. Five for the fingers, an extra one for the swivel of thumb, and one more for the wrist swivel motion.
Will you be adding the other covers for the fingers like you have in the pictues for the left hand? Also i was thinking more about this, do you have any kind of tendon like parts for the hand that help it restore like normal finger position like small rubber bands? Love to you see you adding more to this! Can't wait to get this printed and get controlling with the powerglove i made.

Here is my instructables about the powerglove control system i made:
http://www.instructables.com/id/Hacking-a-Powerglove/
Yes, I will add them, in fact the cover for the right hand is uploaded. Concerning your second question, I use the servo to do do both ation, pulling and restoring. I have now the arduino and the 4 servos installed. your instructables are great, I really need to build a myself a powerglove.
Great! really clever idea on how to attach the wires to the servo's! What kind of wire is it? It looks pretty strong. I am also selling the powergloves with wireless if you are interested. I also saw that you added cable holders. Where do these go to? So does each finger have 2 wires coming from it, one for the flex and one to help restore its upright position? Thank you so much for taking time to answer all my questions!
I actually just watched your new video and it answered a lot of questions with the cable holders. Now you just glued them in? Also what program did you design all of this in? I'm a bit new at CAD and am looking for the easiest and most efficient way to make an modify things like this.
Yes, each finger has two cables. The little cable holders are glued in with acetone. Ideally, I will redo the forarm parts in order to have those cable holders printed at the same time, but in the process of prototyping I was unsure of where to set them in the design. The cables are tennis rods, it's really strong, maybe too strong... The thumb is a bit difficult to fully move with the servo action. I use Blender for program, it's free, but maybe not the easiest. Netfabb is usefull for to finally control the file.
I used nylon coated steel wire, its pretty fine wire but way way strong and small. You might think about adding little hooks on the back of the fingers to help restore it like in my hand (http://www.thingiverse.com/thing:10760) it just makes everything easier and you only have to deal with 5 or 6 wires compared to the 10-12 wires you have now. Also have you thought about adding pins on the fingers instead of bolts making everything a bit more solid. I might try and work off your design and do it myself but you know CAD a lot better than i do.
Yes about the hooks, I did print a first version with springs in the back, but the fingers had not enough strength, they would kind of wobble. Pins could be a for sure a solution to ease mouvement, but you know how it is, you do with what's in the workshop. I'm on the process of controlling the servos through the keyboard, I need to figure out some things though...Each fingers moves correctly now but always independently. Oh well, with a good night sleep it will go better. :-D
Darn it I have competition! Impressive though. I've just finished my first one at anthromod.com/blog/
Woah, great! prints by shapeways look beautifull. Have you been able to work on the animation system yet?
I've done a bit, but it's not my strong point. I'm planning to make almost all of it open for anyone else to modify including software. I think the best software will come from the community tbh, and I want to enable that to happen.

Oh I'm up to my Mk3 now. The Mk2 was entirely printed in one piece, so no assembly!

I'm hoping to fund the Mk 3 via crowdfunding at indiegogo (kickstarter campaigns can only be started in the US :'( ).
Also I am working on a project that will use motors and a glove with sensors so the hand mimics the actions of the user (wearing the glove). It's for a university assignment (you will of course be credited with the hand design) so I have to use a PIC chip and the CCS C compiler language but I will keep you updated on my progress and upload any designs/source code. I'd prefer to use Arduino but unfortunately I'm not allowed.
I would love to see pictures of your project. Thanks for credits. Mmmh What do you mean by a piece is missing in thumb3. I've just checked and the 6 pieces necessary are there for to build the thumb. Maybe you didn't figure out how to assemble them yet. Let me know by mail I will help you. :)
sorry, I didn't describe it well. One of the pieces is not on the same level as the rest, it sits about 0.3mm above the build platform so the layer is not printed on to the platform.
Okay, I have reworked Thumb3 and it should be okay now. Just curious: what layer thickness did you try to print yours for to see the trouble?
0.3mm, 5 of the pieces printed on the first layer then the 6th only started on the second layer (so didn't stick to the build platform properly).

Thanks for updating it, I will try and print it later.
this looks great, I started printing it and noticed one of the pieces in thumb3 isn't on the build platform
Thanks for the codes and link CrazyJaw ;)
I would LOVE to see a video of this in action.
cymon - in reply to cymon
Thanks for sending me the video. Still a little rough but tons of promise.
Hi, I'm still working on the files, and building another hand with tennis rods at the same time. As soon as I have something ready I will put a video. ;)
Hi hairygael,

for servo implementation I recommend you Arduino if you don' t know it.
You can find more info on:
http://www.arduino.cc/playground/ComponentLib/Servo

Hope it helps

Regards
Hey thanks McLerq,

in fact that's what I ordered. I'm planning on using an Arduino Uno with 4 servos MG995. What I wonder about is how can I control through key board each servos..

Arduino Seems to have codes examples already set in the software, that's what I will try at first. Help is welcome.
Sweet, i've been looking around for a nice hand to robot-itize...

I actually have whipped up some simple code to control servos with a keyboard through arduino. Its pretty simple, if you have a programming background. I can send you what i have if you wish... (dont know how to send private messages through this site though....)
Nice, I would appreciate to see the code you have. I'm no programmer, but I already fooled a little with scripts, and from what I have found on the Arduino's site seems to be within my range of test. If you clik on my icone, you can send me a private mail through the window that will appear.
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