instructables

Robotic Hand With Wireless Glove Controlled | NRF24L01+ | Arduino

by MertArduino

In this video; 3D robot hand assembly, servo control, flex sensor control, wireless control with nRF24L01, Arduino
receiver and transmitter source code are available. In short, in this project we will learn how to control a robot hand
with a wireless glove.

Step 1: Video Tutorial

With this tutorial video you can see the robotic arm assembly and more. I added a video because some parts of
the robotic arm assembly are very detailed.

https://youtu.be/uEd2B7fS8Eg

Robotic Hand With Wireless Glove Controlled | NRF24L01+ | Arduino: Page 1

Step 2: Required Hardware and Tools

Required Hardware 2x nRF24L01+ Transceiver -- http://bit.ly/2sCG7nd

2x Arduino Board (Nano) -- http://bit.ly/2HaRyrj 2x nRF24L01+ Adapter -- http://bit.ly/2soia3t

5x MG996R Servo -- http://bit.ly/2kDLHlm Electronic Drill + Dremel Tool --

http://bit.ly/2Li7NFF
5x 4.5 Inch Flex Sensor -- http://bit.ly/2J3hfQp
Anet A8 3D Printer -- http://bit.ly/2J18Ahn
5x 10k Resistor -- http://bit.ly/2xuM6jC
PLA 22M 1.75mm Red Filament --
2x 18650 3.7V Battery -- http://bit.ly/2LNZQcl https://goo.gl/35MSfn

1x 18650 Battery Holder -- http://bit.ly/2LihW5c Hot Glue Gun -- https://goo.gl/2znyr6

1x 9V Battery -- https://goo.gl/xaD6Tf Cable Ties -- https://goo.gl/8FbDzU

1x 9V Battery Connector -- https://goo.gl/fLjKL7 Super Fast Adhesive -- https://goo.gl/aGnizS

1x Glove -- http://bit.ly/2xA6sYx Screwdriver Wallet Set -- https://goo.gl/i75Au5

1x String / Braid Line -- https://goo.gl/EhSdXM Adjustable Solder -- https://goo.gl/2oZhtu

3x Mini Breadboard -- http://bit.ly/2J5hqL5 Soldering Stand -- https://goo.gl/2n8gds

Jumper Wires -- http://bit.ly/2J6de9E Solder Wire -- https://goo.gl/FC7W6o

1x Rubber / Tire or Spring Heat Shrink Tube -- https://goo.gl/j2xcVf

1x Steel Wire or Filament Wire Cable Cutter -- https://goo.gl/b96G4X

3x Bolt ( 8mm diameter) PCB Board -- https://goo.gl/D1so5j

Required Tools (Optional) Screws Nuts Assortment Kit -

-https://goo.gl/EzxHyj

Robotic Hand With Wireless Glove Controlled | NRF24L01+ | Arduino: Page 2

Step 3: 3D Models of the Hand and Forearm

The hand is part of an open-source project called Thanks to InMoov -- http://inmoov.fr/ -

InMoov. It's a 3D-printable robot, and this is just the http://inmoov.fr/hand-and-forarm/
hand and forearm assembly.
Anet A8 3D Printer is used in this project. Models
For more information, visit the official InMoov website. were printed at the lowest qulity.
You can visit the "Assembly Sketches" and
"Assembly Help" pages in the InMoov website for All 3D parts used in this project
more details on assembly.

Download
http://www.instructables.com/ORIG/FZU/D9RM/JEST27IR/FZUD9RMJEST27IR.stl
…

Robotic Hand With Wireless Glove Controlled | NRF24L01+ | Arduino: Page 3

 http://www.instructables.com/ORIG/FYN/OXQR/JEST27IS/FYNOXQRJEST27IS.stl
… Download

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…

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http://www.instructables.com/ORIG/FK6/NIQI/JEST27O7/FK6NIQIJEST27O7.stl
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http://www.instructables.com/ORIG/FH8/LRHC/JEST281R/FH8LRHCJEST281R.stl
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Step 4: Assembly of Parts

Assembly of robotic arm parts is very detailed and angle:

complex, so you can visit the "Assembly Sketches"
and "Assembly Help" pages in the InMoov website for
more details on assembly. it is explained very
thoroughly on the InMoov website. Or you can watch
the video I shared.
http://www.inmoov.fr/assembly-sketchs/
http://inmoov.fr/hand-and-forarm/
When assembling the fingers, make sure the parts
are oriented correctly before gluing. Keep all servo
motors at 10 or 170 degrees before attaching the
servo pulleys to the servo motors. When mounting
the servo pulleys, keep fingers in the closed or
opened position (according to your servo angles).
Then wrap around the servo pulley until the braid
wires or strings becomes stretched.

Consider this suggestion for the correct finger

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Step 5: Connections of Hand (Receiver)

At this point, the servos should already be mounted into the forearm. To connect them to the power
supply and Arduino, you can use a small breadboard.
Remember to connect the negative on the breadboard to the Arduino's GND. All the GNDs in a
circuit need to be connected for it to work.
I recommend using the power adapter for the nRF24L01+ module. Otherwise, communication may
be broken due to insufficient current.
If you encounter the these problems: vibration in servo motors, servo motors not working,
communication breakdown and in similar situations, supply your Arduino board with external power
(like USB).
If you used different pins than pins shown in below, change them in codes.

Connections of the Servo Motors:

Servo-1 connect to the analog 01 (A1) of the Arduino.

Servo-2 connect to the analog 02 (A2) of the Arduino.

Servo-3 connect to the analog 03 (A3) of the Arduino.

Servo-4 connect to the analog 04 (A4) of the Arduino.

Servo-5 connect to the analog 05 (A5) of the Arduino.

Connections of the nRF24L01 Module:

VCC connect to the +5V of the Arduino.

GND connect to the GND of the Arduino.

CE connect to the digital 9 pin of the Arduino.

CSN connect to the digital 10 pin of the Arduino.

SCK connect to the digital 13 pin of the Arduino.

MOSI connect to the digital 11 pin of the Arduino.

MISO connect to the digital 12 pin of the Arduino.

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Robotic Hand With Wireless Glove Controlled | NRF24L01+ | Arduino: Page 10
Step 6: Connections of the Glove (Transmitter)

The flex sensors require a circuit in order for them to be compatible with Arduino. Flex sensors are
variable resistors, so I recommend using a voltage divider. I used 10K resistor.
The main GND (ground) wire connected to all individual GND wires from the sensors, gets
connected to the GND of the Arduino. The +5 V from the Arduino goes to the main positive voltage
wire. The wire from each flex sensor is connected to a separate analog input pin via the voltage
divider.
I soldered the circuit onto a small PCB, one that could be easily mounted onto the glove.You can
build the circuit on the small breadboard instead of the PCB.
You can use 9V battery for circuit of the glove.
If you used different pins than pins shown in below, change them in codes.

Connections of the flex sensors:

Flex-1 connect to the analog 01 (A1) of the Arduino.

Flex-2 connect to the analog 02 (A2) of the Arduino.

Flex-3 connect to the analog 03 (A3) of the Arduino.

Flex-4 connect to the analog 04 (A4) of the Arduino.

Flex-5 connect to the analog 05 (A5) of the Arduino.

Connections of the nRF24L01 Module:

VCC connect to the +5V of the Arduino.

GND connect to the GND of the Arduino.

CE connect to the digital 9 pin of the Arduino.

CSN connect to the digital 10 pin of the Arduino.

SCK connect to the digital 13 pin of the Arduino.

MOSI connect to the digital 11 pin of the Arduino.

MISO connect to the digital 12 pin of the Arduino.

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Robotic Hand With Wireless Glove Controlled | NRF24L01+ | Arduino: Page 13
Step 7: Source Code of the Project

For the source code to work correctly, follow the recommendations:

Download the RF24.h library and move it to the Arduino libraries folder.
https://github.com/maniacbug/RF24
After the flex sensors are connected o the glove, read and note the minimum and maximum values
that each flex sensor has detected.
Then enter these values into the transmitter (glove) code.
Keep all servo motors at 10 or 170 degrees before attaching the servo pulleys to the servo motors.
When mounting the servo pulleys, keep fingers in the closed or opened position (according to your
servo positions).
Then wrap around the servo pulley until the braid wires becomes stretched.
Move all the fingers to the closed and opened position by checking the servo motors one by one.
Then get the best angles for servo motors (servo angles while fingers closed and opened).
Enter the servo motors angles and flex sensor values to the transmitter code as follows.

flex sensor min. value, flex sensor max. value, servo min. angle, servo max. angle

(flex_val = map (flex_val, 630, 730, 10, 170);

There is only one change in the receiver source code. Which flex sensor in the transmitter will
control which servo motor in the receiver? For example, msg[0] sends the data of the x sensor-5. If
you want to control the servo motor-5 with the flex sensor-5, you can do this by typing 'servo-
5.write(msg[0])'.
If you used different pins than pins shown in circuit, change them in both codes.

I know it's a little complex the last part, but please do not forget: there is no hard! You can do it! Just think,
research, trust yourself and try.

Download
http://www.instructables.com/ORIG/FIM/2O4N/JEST3A90/FIM2O4NJEST3A90.ino
…

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 http://www.instructables.com/ORIG/FDH/DTIM/JEST3A96/FDHDTIMJEST3A96.ino
… Download

Hey Mert This project is awesome. can u tell me that is there a website through which we can get
online printed material just like jlc pcb

How much is the total cost of this hand?

Very cool!

Thanks

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