Hand robot InMoov

by hairygael, published

Hand robot InMoov by hairygael Feb 18, 2012

Featured Thing!


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.


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!




Last of all:

A demo using Leap motion to control the hand:

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.

Recent Comments

view all

here is the video demo of air muscle test:

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: http://i.imgur.com/dVGocoF.jpg

It'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?

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:

More from Robotics

view more

Liked By

view all

Give a Shout Out

If you print this Thing and display it in public proudly give attribution by printing and displaying this tag. Print Thing Tag


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:

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

Update 27/02/13 you can now downoload the neck with mechanism

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




You must be logged in to post a comment.

CrazyJaw on Jun 4, 2014 said:

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/produ..., which looks like it makes things a bit easier.

hairygael on Jun 4, 2014 said:

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:

peperete on May 25, 2014 said:
hairygael on Jun 4, 2014 said:

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.

Alex-3D on May 10, 2014 said:

I have already mentioned Robohand on my site and I am fascinated by this project, good job ...

zachmaddy on Apr 30, 2014 said:

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?

hairygael on Jun 4, 2014 said:

Hi, you will find all the links directly on my website.

norrisalex on Apr 10, 2014 said:

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

CrazyJaw on Jun 4, 2014 said:

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...

nirmal123 on Apr 3, 2014 said:

i am not able to download any of the files as it says some Certificate Trust

zim on May 16, 2014 said:

.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.

hairygael on Apr 8, 2014 said:

Sorry this has nothing to do with the STL files but with your Internet configuration.

fanucman on Feb 3, 2014 said:

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?

hairygael on Feb 3, 2014 said:

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.

fanucman on Feb 1, 2014 said:

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!

hairygael on Feb 3, 2014 said:

Thanks a lot for your comment.

ItchyPigcreations on Jan 30, 2014 said:

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?

hairygael on Jan 30, 2014 said:

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.

GadgetGuru314 on Jan 30, 2014 said:

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!

hairygael on Jan 30, 2014 said:

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.

Graviton on Jan 12, 2014 said:

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.

hairygael on Jan 30, 2014 said:

Thanks for your comment. The video with the keyboard is now pretty old. There is actually solutions using MyrobotLab for keyboard.

Amadon on Jan 6, 2014 said:

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!

hairygael on Jan 7, 2014 said:

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 http://youtu.be/GOTRXM4O9L0

rodrigomhassa on Jan 6, 2014 said:

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.

hairygael on Jan 7, 2014 said:

Hi Rodrigo,
you can join me on the InMoov forum, you will find the link on the InMoov website.

PMClab on Dec 5, 2013 said:

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 : http://www.thingiverse.com/thi.... But I didn't try so maybe I'm wrong.

hairygael on Dec 5, 2013 said:

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.

mohajerma on Dec 4, 2013 said:

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?

hairygael on Dec 5, 2013 said:

Hi, Just like PCMlab responded, I recommand rods of fishing Braid 200 LB (90kg)

PMClab on Dec 5, 2013 said:

According the Inmoov website they use rods of fishing Braid 200 LB (90kg)

rhitch on Dec 2, 2013 said:

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!!

hairygael on Dec 5, 2013 said:

Hi there is now a tuto on the website under the "Assembly" with codes.

mostro on Dec 1, 2013 said:

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

hairygael on Dec 2, 2013 said:


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".

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.

stemcellgal on Nov 20, 2013 said:

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.

hairygael on Nov 20, 2013 said:

I suggest to print first the Finger Starter Kit and follow the tuto on how to assemble and use the software.


rabbityeah on Nov 2, 2013 said:

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.

hairygael on Nov 20, 2013 said:

Depends which Reprap, but I designed all the InMoov parts to fit on a printer size bed of 12x12x12cm

cisnerom on Oct 5, 2013 said:

is there any place to get the robpart 1-5 printed for cheap? My 3D printer cannot print the height. Thanks.

hairygael on Nov 20, 2013 said:

You can use Netfabb studio free version to cut the pieces as you wish.

Himmellen on Sep 9, 2013 said:

awesome job. you have made a hand that is both super functional and strong and aesthetically pleasing.

hairygael on Nov 20, 2013 said:

Thanks a lot

KISTech on Aug 19, 2013 said:

Fantastic work. Thank you for sharing this.

NuclearLemonade on Jul 8, 2013 said:

Can you leave some pictures showing the orientation of the parts that are glued to each other?

hairygael on Jul 8, 2013 said:

Please check this tuto:
Assembly of the "Finger Starter"
and these sketches:

guywhocodes on May 18, 2013 said:

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?

hairygael on May 20, 2013 said:

Thanks for your comment. It is certainly due to the accuracy with your printer. These parts are meant to be pretty well adjusted.

lucboudreau on May 4, 2013 said:

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.

hairygael on May 6, 2013 said:

Fixed. It has been downloaded 2860 times before someone had a problem with it!

aref_naa on Apr 22, 2013 said:

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.

hairygael on Apr 22, 2013 said:

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.

hairygael on Apr 22, 2013 said:

WristlargeV3. The denomination wriarge was initialy a problem with Thingiverse which would reduce that name when uploading the file.

zorrored on Apr 21, 2013 said:

I cannot find wriargeV3 file in the downloads, can someone please upload this file ? I am excited to build this hand. Thanks in advance !!

quantumsuz on Mar 29, 2013 said:

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...

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!

hairygael on Apr 17, 2013 said:

Fantastic! A mini InMoov, please let us know on the InMoov forum how things are doing.

llSourcell on Mar 26, 2013 said:

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]

llSourcell on Mar 21, 2013 said:

Can you please make a picture tutorial for constructing the hand?

hairygael on Mar 23, 2013 said:

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?

gregted on Mar 19, 2013 said:

Thing ( the hand from The Adams Family tv show )

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.

hairygael on Mar 23, 2013 said:

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.

VeeBee on Mar 16, 2013 said:

Hello Hairygael. I was wondering how you made possible the HK15298 servo to rotate more than 90 degrees. Can you please help. Thank you.

llSourcell on Mar 17, 2013 said:

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?

Bionico on Mar 15, 2013 said:

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 [email protected]
Any personn interested about this project can contact me.

morphling on Apr 17, 2013 said:

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.

hairygael on Mar 18, 2013 said:

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.

Bionico on Mar 15, 2013 said:

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.

hairygael on Mar 18, 2013 said:

Yes I remember. So how far are you now with it?

idellwig on Mar 10, 2013 said:

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.

hairygael on Mar 10, 2013 said:

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:


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


electricmonk9 on Mar 9, 2013 said:

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.

hairygael on Mar 9, 2013 said:

This section on my blog will answer your question


lizUDM on Feb 27, 2013 said:

I have some questions about your stl files and their upload resolution. Can we get in contact over email?

hairygael on Mar 9, 2013 said:

Did you find the solution?

Hank-Cowdog on Feb 3, 2013 said:

topsurface4.stl seems to be the hand back for the left hand, not the right hand.

hairygael on Feb 4, 2013 said:


"topsurface4.stl" is for the right hand, I can confirm.
Hope this helps

VeeBee on Feb 2, 2013 said:

Hello Hairygael. I was wondering if you could please provide specifications of the servos? Many thanks.

hairygael on Feb 2, 2013 said:

Hi VeeBee, check the BOM on the forum of InMoov's blog for more info.
I recently purchased these(HK15298 Hobbyking), and they seem better then what I used at first.

VeeBee on Jan 29, 2013 said:

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?

hairygael on Feb 2, 2013 said:

No, sorry not yet, I want to try using FSR sensors, but I haven't enough time.

nallath on Jan 26, 2013 said:

What kind of servo's would you recommend using for this?

hairygael on Feb 2, 2013 said:

Hi, check the BOM on the forum of InMoov's blog for more info.
I recently purchased these(HK15298 Hobbyking), and they seem better then what I used at first.

foxdewayne on Jan 22, 2013 said:

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.

hairygael on Jan 22, 2013 said:

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

Taaang on Jan 16, 2013 said:

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!

VeeBee on Jan 31, 2013 said:

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).

hairygael on Jan 16, 2013 said:

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.

Timothyvisual on Jan 9, 2013 said:

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!

hairygael on Jan 10, 2013 said:

Great, let me see pictures when you have the hand done, I always enjoy it.

Strahlex on Dec 29, 2012 said:

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.

hairygael on Jan 2, 2013 said:

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?

njkl44 on Nov 10, 2012 said:

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!

hairygael on Jan 2, 2013 said:

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.

thomasfromla on Oct 24, 2012 said:

Actually a friend named Kim made it. I have a video of it moving on youtube. http://youtu.be/uEDpav-vkI0

hairygael on Oct 24, 2012 said:

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!

elchan on Oct 10, 2012 said:

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?

hairygael on Oct 10, 2012 said:

 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.

Bionico79 on Oct 8, 2012 said:

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!

hairygael on Oct 9, 2012 said:

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.

pwgauthier on Oct 2, 2012 said:

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.

Bionico on Mar 15, 2013 said:

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;

hairygael on Oct 3, 2012 said:

 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:
Hope this helps.

Yamagata on Sep 30, 2012 said:

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 ;)

hairygael on Sep 30, 2012 said:

 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

Norwegianhacker on Sep 22, 2012 said:

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!

hairygael on Sep 24, 2012 said:

 I have sent you a PM.

elchan on Sep 14, 2012 said:

Nice project.

Did you print it using a Makerbot?

hairygael on Sep 15, 2012 said:

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.

tentakles on Jul 17, 2012 said:

is the thumb-part missing right now? the last update makes a mention of a "thumb5"-part which i cannot locate.

hairygael on Jul 19, 2012 said:

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.

njkl44 on Jun 19, 2012 said:

Could you email the blender files for this?

[email protected]

hairygael on Jun 19, 2012 said:

Hi, fantastic work on your arm! I have sent you a mail concerning the blend files. ;)

sofiadragon1979 on Jun 8, 2012 said:

Wow that is an amazing piece

hairygael on Jun 19, 2012 said:

Thanks for the comment!

njkl44 on Jun 1, 2012 said:

Hey I finally got time to make a video of my arm in action!


Email me at [email protected] I would love to talk to you about future plans and how we can both implement our ideas together.

artistpw on Apr 30, 2012 said:

Hi - try making just some of these as possible hand mannakins for art. I bet you could sell a few on Ebay.

hairygael on Jun 19, 2012 said:

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...

srepmub on Apr 29, 2012 said:

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..?

hairygael on Apr 30, 2012 said:

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.

bstott on Apr 14, 2012 said:

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. :)

bstott on Apr 14, 2012 said:

Maybe supply us *.stp or *.step format? *DONT_KNOW*

Anonymous on Mar 28, 2012 said:

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...

hairygael on Mar 28, 2012 said:

Aah, thanks this is certainly the reason. I will try with all the keyboards of the house to start with!

Roboteernat on Mar 21, 2012 said:

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!


hairygael on Mar 21, 2012 said:

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?

Wulfnor on Mar 21, 2012 said:

hey, i have questiond about robpart2.stl. It seems that there is missing part of serwo bracket

hairygael on Mar 21, 2012 said:

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.

on Mar 12, 2012 said:

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

hairygael on Mar 12, 2012 said:

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. :)

FreddyA on Mar 11, 2012 said:

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.

hairygael on Mar 11, 2012 said:

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...

Anonymous on Mar 7, 2012 said:

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:
and this:

I was also featured in the septembers issue of popular mechanics for my wireless animatronic hand:

I have code and everything for controlling a servo wirelessly with a control glove
giving you the mimicking motion:

Feel free to email me: [email protected]

hairygael on Mar 7, 2012 said:

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...

Anthromod on Mar 6, 2012 said:

Darn it I have competition! Impressive though. I've just finished my first one at http://anthromod.com/blog/

hairygael on Mar 6, 2012 said:

Woah, great! prints by shapeways look beautifull. Have you been able to work on the animation system yet?

edwinmakesstuff on Mar 1, 2012 said:

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.

hairygael on Mar 1, 2012 said:

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. :)

edwinmakesstuff on Mar 1, 2012 said:

this looks great, I started printing it and noticed one of the pieces in thumb3 isn't on the build platform

hairygael on Feb 29, 2012 said:

Thanks for the codes and link CrazyJaw ;)

cymon on Feb 19, 2012 said:

I would LOVE to see a video of this in action.

cymon on Feb 27, 2012 said:

Thanks for sending me the video. Still a little rough but tons of promise.

hairygael on Feb 20, 2012 said:

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. ;)