robot hand || bionic hand prosthesis prototype

This bionic hand uses an arduino nano V3 to controll 7 servo's. The hand is modelled after my hand so I could make a mold that fits over it.

Brian Brocken

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Description

This bionic hand is controlled by an arduino nano V3 and uses 4 15kg servo's to move the index, middel, ring and little finger and 3 9g servo's to rotate the thumb and pull the tumb and the fingers open. This bionic hand it's structure is modelled after my hand so I could make a gel10 mold that would fit snug around it. I originally wanted to integrate some force feedback in the finger tips by using some small pushbuttons. This didn't turn out to well because the wires from the pushbuttons in combination with the gel10 mold caused to much friction in the joints of the fingers and the fingers had to push to hard to activate the pushbuttons. I'm now going to do some tests with currentsensors so I can messure the current going to the servo's and when the current goes above the normal level then the servo's would stop (that's the idea).

Details

All stl-files are free to download and can be found on thingiverse. The link to thingiverse is on this page somwhere left down. I made the mold using plastigel10.

STL-files can also be found here: https://www.thingiverse.com/thing:2838239

video:

Files

circuit diagram bionic arm V3.PNG this is the layout for the arduino board that I soldered Portable Network Graphics (PNG) - 45.30 kB - 03/24/2018 at 10:56	Preview	Download

bionic_hand_code_V1.ino This is the code for the arm as you see it in the youtube video ino - 12.80 kB - 03/24/2018 at 10:51		Download

Components

1 × 3D-printed parts Link to Thingiverse: https://www.thingiverse.com/thing:2838239
4 × 15kg Servo's link: https://www.banggood.com/MG996R-Digital-Metal-Gear-Servo-For-Robot-ZOHD-Volantex-Airplane-RC-Helicopter-Car-Boat-Model-p-78320.html?p=E01411629100201406T1&custlinkid=696024
1 × 2S lipo 7.4V link: https://www.banggood.com/7_4V-2S-2000mAh-8C-Lipo-Battery-Compatible-for-Frsky-ACCST-Taranis-Q-X7-Transmitter-p-1249125.html?p=E01411629100201406T1&custlinkid=669244
2 × 5mm red LED link: https://www.banggood.com/Geekcreit-375pcs-3MM-5MM-LED-Light-Emitting-Diode-Beads-Resistance-Lights-Kits-Bulb-Lamp-p-1027601.html?p=E01411629100201406T1&custlinkid=669272
2 × pushbutton link: https://www.banggood.com/100pcs-Mini-Micro-Momentary-Tactile-Tact-Switch-Push-Button-DIP-P4-Normally-Open-p-917570.html?p=E01411629100201406T1&custlinkid=669260

View all 14 components

Discussions

Joe darling wrote 07/07/2019 at 21:36

Hi, Thank you for the really great design! I am trying to make this project but the bottom joint of finger I have printed out doesn't seem to have anything to stop it when it is straight. I.e. it goes all the way back when you pull the string to straighten it. Is there any way to stop it doing this please?

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hendraabw8 wrote 03/14/2019 at 13:11

what about the old coding..?arduino? Plesee

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ckmidhun311 wrote 12/30/2018 at 07:08

Hi I am Midhun from India(kerala). I am doing final year EE. I am doing prosthetic arm as my final year project i could see these links are pretty useful.

How about your taking feedback from current sensor. Which sensor did you take for the same?

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kumar.simms wrote 09/10/2018 at 19:59

Hello,

My name is Kumar Simms and am a student work study at Community College of Allegheny County. Learning to put this together and would love if I could ask questions I have of the smaller details through contact. My email is kumar.simms@acd.ccac.edu.

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Isaac wrote 08/21/2018 at 17:00

I like this project very much! I'm a left hand amputee myself, and I'd like to build this and try it out. Are there assembly instructions? The video moves much too fast to follow.

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Brian Brocken wrote 12/07/2018 at 18:37

Hello Isaac. I'm sorry i missed your comment. It would be great if the prosthesis could help you! How's the build going? If you have any questions about the project, you can always send me a private message. Best regards, Brian

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Bob wrote 06/04/2018 at 19:49

Hi, My son and I built a very similar project for a prosthetic hand competition. We found several advantages to using gear motors (strength, torque, size ..) similar to this: https://www.ebay.com/i/311900465658?chn=ps

And we were able to use back EMF to measure force / speed using the method outlined here: https://robidouille.wordpress.com/2009/09/20/back-emf/

I'm not and EE but it was very effective and worked well for us.

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Brian Brocken wrote 06/04/2018 at 19:52

Very nice and thank you very much for the links. They are quite usefull.

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Sinan Caglan wrote 04/12/2018 at 08:41

Congratulations i like your project.

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Brian Brocken wrote 04/24/2018 at 20:56

Thank you Sinan Caglan!

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alpha le ciel wrote 03/24/2018 at 11:37

Keep going i really like your project

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Brian Brocken wrote 03/27/2018 at 11:52

Thank you very much alpha le ciel!

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Robotic Arm is created using 2 servo motors and mechanics parts, servo motors are controlled with keypad using arduino uno.

robot hand || bionic hand prosthesis prototype

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Description

Details

Files

circuit diagram bionic arm V3.PNG

bionic_hand_code_V1.ino

Components

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Discussions

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