Hey! This thing is still a Work in Progress. Files, instructions, and other stuff might change!

Parloma Hand v1.0 beta 2

by parloma, published

Parloma Hand v1.0 beta 2 by parloma Feb 27, 2015


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Here you can find our 3D-printable hand for the PARLOMA (www.parloma.com) project. Developed starting from InMoov project (www.inmoov.fr).

With respect to InMoov's left hand, we add abduction/adduction joints to thumb, index and middle fingers, and redesign the palm. Now flexion/extension DoF is controlled with a tendon (flexion) and a spring (extension) inserted in the finger itself. Moreover, motion transmission has been improved introducing nylon sheaths to reduce friction and to have a greater flexibility in the positioning of the actuators and consequently a greater freedom in the design.

Soon we will add more control code and instruction.


Control Software


  • 09 Mar 2015: files rotation fixed, removed multiple fingers files.


  • separate left and right from some STL


The hand is still in beta phase, CADs may change!
We are working hard to release final version of the hand as soon as possible.


  • Andrea Bulgarelli, 3Dto
  • Ludovico Russo, Politecnico di Torino

Thanks to Raffaele Saggino for helping in fixing files



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What size screws do you recommend?

Do the fingers are the same size as InMoov fingers?

I have printed most of the parts and have assembled fingers. I am getting ready to assemble fingers and palm, but am having trouble finding tubing. The smallest I can find is 1/8" OD, which is probably too large. Can you give a recommendation for a supplier?

A very promising project. Please tell me what kind of springs you used. Which of the wire diameter, spring diameter and spring length? At least approximately. It is a very rewarding experience.

I have built the wrist and have it working pretty good.I had to design/redesign a couple of parts The hand parts are printed - will be building it next. Great project

Great design! I have built an InMoov and now I want add this hand and wrist to it. Where can I find instructions for installing the springs and tendons? Thanks

The File PARLOMAHAND-_Thumb_5.STL is the wrong version.
How can I get the correct version.
After all what's a hand without a thumb.

OK. After printing all of the joints and fingers there is one feature that I think needs improvement.

The Palm1 print (the largest palm part) has a 32 or more wire-guide holes that extend through the part on both sides of the wall. These small tubes with very thin wall thickness are very difficult to print accurately on most DIY-grade printers. I am afraid that strong tension in the tendon wires will cause the small guide tubes to break off from the wall.

Solution: Blend the tubes into the surrounding structure of the walls so that they are no longer tubes, but are rather holes through a thicker wall section. I can easily do this modification if you send me the CAD file, but your engineer should know what I'm talking about. I can add a sketch or two tomorrow for clarification.

You could also simply increase the tube wall thickness until they become sturdy and blend into the adjacent tubes to for a stronger design.

Great job, keep up the good work!

Thanks :)
We are already considering this fix: indeed, as you said, one guide has broken in our last implementation of the palm :)

What CAD program are you using? I have access to Siemens NX and any freeware out there.

If you send me the palm_1 CAD file I can modify it for you. I'd also like to modify it for my own strength testing plans when I finish the first build.

we use Solidworks. I don't know if you are able to edit solidworks files with other CADs.

Anyway, we planned to publish also CAD files when they will be definitive, but, if you are interested,
please contact us in private with facebook (search PARLOMA) or by mail at , and we will give you the files you need :)



I used to have access to SolidWorks (i LOVE that program) but now I only have NX. I can edit the files in NX but it will unfortunately lose all of the process information :(

I'll see if I can get a cheap version of SW so I can fully edit the files.

ok, let me know :)

Did you get my email requesting the file?

Mar 10, 2015 - Modified Mar 10, 2015

Another thing for your To-Do List.
I made the inMoov hand about 18 months ago and I can't wait to try out this one!

Add a list of all non-printed hardware.

Nylon sleeve size



Springs (all of them)

Bearings (for wrist)

Servos (the exact ones you used) (we can improvise after we know what worked)


thanks for your very useful comments, I will answer here to all of them :)

  1. We will create the list of non printable parts ASAP. For servos, we now use the same ones (or a very similar version) of inmoov and a smaller version for abduction/adduction and wrist, here the links where I bought them: https://www.adafruit.com/products/155, https://www.adafruit.com/products/1143. Anyway, I can anticipate you that we are now working on using the Dynamixel servo (model XL-320) to save space.
  2. Regarding springs, we've done some test but we have not measurable data about them parameters. We need some weeks to perform more accurate experiments, at the moment the hand here presented is for very preliminary tests.
  3. We will separate and correct STL in few days
  4. The hand is intended for communication, and in particular for tactile Sign Language communication. We start to develop it first of all for cost reason, since other hand we used cost too mush to be affordable to (future) end-users, if our project will ever exit from the pure research area :). Anyway, at the moment we are more interest in dexterity than grasping and force. I've done some very fast grasping tests with plastic bottles and glasses, and the hand is able to hold them, but I'm sure that, at the moment, inmoov's hand is better for grasping. Probably one of the main parameters that influences force are springs constants, and, as I said, we still need to perform tests on this point.

Since you are very interests in our project, if you will print the hand and perform more accurate tests, can you please share your results with us to help us to improve the project? Thanks.

Finally, I can anticipate you we are at now building a team of Master students in Electronic, Mechatronic, Mechanics and Computer Engineering to improve all the thinks I said above and start in developing (again starting from Inmoov) the arm and the shoulder!

The little finger is missing and there are two copies of the back ("back" and "back_sx").

ok solved :)

Thanks. I see that the parloma is intended for hand communication. Have you tested to see if it has strength comparable to the inMoov? Would you think that it is more fragile than the InMoov hand?

One final request in terms of the STL files. Can you pleases separate all of the Left and Right versions of parts into separate files and name those stl files according to the handedness of the model inside? The Palm print currently has both left and right in the file and it can be very confusing to choose which one to print. Some of the files are already separated so it would be nice if they all followed suit.

Thanks so much for all of your hard work!

There are lots of duplicate versions of the finger prints. Index 1, 2 , 3, 4, etc... Why are there so many different files for the same part? Can you please remove the previous versions and only keep the most recent revision of each print?


Thanks you for your comments,
as I highlighted in the title, it is still in beta, so its normal some problem.
We are full of work but please give us fews days and we will correct the files.

Delays is due to the fact that the guy who developed mechanics of this files is at the moment on holiday. :)

The files need to be rotated so that they will lay flat on the build surface. They are currently tilted and in many cases floating. Just look at the previews and you can see which files need to be fixed.

Thanks! I hope to print as soon as you fix the STLs

We know the issues,
we are full of work but we will fix files as soon as possible.

the files seem to be different to what the pictures are.... difficult to print as some of the parts don't fit properly

Can you please specify which files? Maybe we have done some mistakes by uploading old versions.
Thanks :)

Almost all of the finger STL files need to be rotated in your CAD program and regenerated so that the new STL files will lay flat on the build platform. This project is currently unprintable due to the rotation of the finger STL files. We are able to rotate STL files 90 degrees in our gcode generators, but if the initial STL orientation is X1.4deg y30.9deg z82.3deg it is impossible for us to rotate the part so it lays flat.

Please update them as soon as possible and thank you for posting this awesome project!

Done :)

Done :)

Thanks! Now to get printing!

What is different? I see some design changes.. You also need to rearrange the models..

Hi, we add abduction/adduction joints and a spherical wrist, and redesign some parts of the hand (in particular the palm).
We know it is a little bit confusing, we will reorganize models and public instructions and control software as soon as possible