Robot Hand

This is a project we did in between math and computer technology and STEM. We made a robotic hand made out of foam that you can control with a glove on your hand.

• Glue gun
• Utility knife
• Rubber Band
• Fishline
• Battery
• Wires
• Arduino board
• Servo Motor (5 pcs)
• Styrofoam
• Plyers
• Paperclips
• Ruler
• Sandpaper Block
• Sharpie
• Needle

1. First, measurer your hand to get the measurements of all your fingers and palm
2. Then with a sharpie draw out the rectangular prisms on the foam
3. Cut the rectangular prisms out
4. Sand down the fingers into a cylinder shape
5. After that, cut the fingers into 3 different pieces
6. On the tip cut one 45 degree angle at the bottom, for the middle part of the finger cut 45 degree angles on both ends, and on the bottom piece cut one 45 degree angle on the top
7. For the thumb cut it into two pieces and cut the top piece a 45 degree angle on the bottom, and on the bottom piece cut 45 degree angle on the top
8. Thread a fishline through the three parts of the finger
9. Then cut out elastics and glue both ends to where the knuckles are to keep the fingers from falling apart but still allowing it to move
10. Cut paper clips into small semi circle shapes
11. Put them into the palm of the hand to hold the fishline in place

1. Trace the servos into the foam forearm
2. Connect the servos onto the foam with using a hot glue gun
3. Take the wire that you have connected through the fingers and attach it to the servo

• The servo connections we use in this project are as follows;

Orange Input - Signal Input

Red Input - Power Input (VCC)

Brown Input - Ground Input(GND)

• Connect all servo motors VCC and GND to the motor shield.
• The signal inputs of all servo motors are connect to the motor shield PWM 3-5-6-9-10 respectively.

1. Add the servo library into your code
2. Define the servos by naming the as each finger
3. Add each servo that you just defined into the code with each pin they are connected to
4. Make commands using each servo and changing the value between 0-180 degrees, 0 being closed and 180 being fully straight open
5. Add your commands to the loop
6. Run the code while connected to your Arduino