Inmoov 5 servo finger sensor

by Jhack, published

Inmoov 5 servo finger sensor by Jhack May 22, 2013
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This is a 5 sensor bracket for the inmoov robot currently for the left hand.


5_servo_base needs to be printed with supports.
print settings are
.2mm slice
30% infill

servo pulley was printed out at 100%
5 each of the following need.
Sensor: Hall Effect ratiometric a1302 sensors
Rare Earth Neodymium Magnet 8mm x 5mm
Spring size is 3/8" x 3/4"

http://thehackettfamily.org/blog/?p=59 for more details.


update : 23/5/13

made changes to the base to let servo wires to run easyer, and uploaded right side (untested).

Update 29/5/13 :
uplaoded circuit diagram.

update 15/7/13
uploaded a full set of right arm parts thank you emys for highlighting the problem.

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Hi Jack, I'm looking for the code to put in the Arduino MIni Pro and how it communicates whith the Arduino Mega.
Thank you very much for your job.

Hi Jhack
your announcement of a sensible hand sounds good but I can't really figure out what you have done or changed on the hand.
Can you be a bit more descriptive of how you implemented the sensors and what the programming looks like?

Where do I get the code from arduino?
The assembly already have in the picture, but I need more details, can someone help me?
Accurate sketch ...

In an attempt to repeat, I have burned two servo. It was digital servos. You are using analog servos. Is there any difference?

jhack, Dimensions of the spring are 3/8 "x 3/4", and what is the diameter of the wire? Where did you buy these springs? I'm trying to calculate the force of the spring and repeat your achievement.

hi, the diamete of the wire is about 1mm, these springs is what i had laying aroud i think some thing a little stronger would be better.

Jhack: I'm getting a maximum distance on the a1302 chip of about 12-15 mm to sense the field off of a 4 mm button magnet. Has that been what you've seen?

Yes I've used a bigger magnet and it drops off around the 15mm distance, the a1302 measure the field strength of the magnet. The distance for the design above is only 5mm so the 4 mm button magnet should work in it.


You gave some kind of sensitivity to hand, because I want to do this to get from bottle plastics up heavier objects,
Could you help me? Can exchange information, I am also working on it.

thanks i started to print the right side to day so hopefuly ill have something to report soon.

Really good! I see you have printed the extra DOF thumb. Can you put here the details of the sensors specs and springs? Your approach is very interesting because the sensor takes the whole length of the finger in consideration. And also it leaves the tip of the finger free to add, let say, a temperature sensor.

Hi hairgael
Congratulations for the work !!!

I'm working to make the most sensitive hand to catch light and heavy objects, eg plastic bottles and a suitcase
In the project for some material about this topic?

We may share information and exchange ideas?