Hand robot InMoov
Description
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 under construction, see:
inmoov.blogspot.com
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
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
Instructions
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.
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 robpart2V2, robpart3, robpart4V2, robpart5V2 with an infill of 30%, 3 shell, best with raft.
Print coverfinger with an infill of 30%, 3 shells, with support.
Big bolts are now printable. (Not really strong but enough for tests.)
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 2.5mm 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 robpart1, robpart2v2 and robpart5V2. Make sure the servo brakets are aligned.
Glue together robpart3 and robpart4V2.
Make sure the servo brakets are aligned.
Fit and bolt in the 4 servos and the Arduino board.
Wire the servos to the board.
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
Still working on instructions text...
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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.
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...
http://www.thingiverse.com/der....
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!
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 llSourcell@gmail.com
Can you please make a picture tutorial for constructing the hand?
Thing ( the hand from The Adams Family tv show )
http://www.youtube.com/watch?v...
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.
Hello Hairygael. I was wondering how you made possible the HK15298 servo to rotate more than 90 degrees. Can you please help. Thank 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 https://getmyo.com about the hand control. Do you think this is possible? my email nicolasonnne@gmail.com
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.
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:
https://groups.google.com/foru...[1-25-false]
Do you plan on making the bicep? If yes, you shoud consider printing these parts instead:
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.
I have some questions about your stl files and their upload resolution. Can we get in contact over email?
topsurface4.stl seems to be the hand back for the left hand, not the right hand.
Hello Hairygael. I was wondering if you could please provide specifications of the servos? Many thanks.
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?
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
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.
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!
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?
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!
Actually a friend named Kim made it. I have a video of it moving on youtube. http://youtu.be/uEDpav-vkI0
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...
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 ;)
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!
is the thumb-part missing right now? the last update makes a mention of a "thumb5"-part which i cannot locate.
Hey I finally got time to make a video of my arm in action!
Email me at njkl44@gmail.com I would love to talk to you about future plans and how we can both implement our ideas together.
Hi - try making just some of these as possible hand mannakins for art. I bet you could sell a few on Ebay.
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..?
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. :)
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. http://en.wikipedia.org/wiki/R...
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!
http://www.youtube.com/watch?v...
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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.
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...
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.co...
I have code and everything for controlling a servo wirelessly with a control glove
giving you the mimicking motion:
http://www.instructables.com/i...
Feel free to email me: njkl44@gmail.com
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...
Darn it I have competition! Impressive though. I've just finished my first one at http://anthromod.com/blog/
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. :)
this looks great, I started printing it and noticed one of the pieces in thumb3 isn't on the build platform
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.