This is pretty cool. hook it up the the ez-b and boom!
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Joystick (Xinput)
— XInput joystick skill for ARC: maps Xbox controllers to movement, servos, triggers, vibration, variables; supports analog inputs and scripts.
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I designed a hand/arm similar for Melvin but didn't run with it as it didn't exactly suit him... It's waiting to be used for another project
A pretty simple concept if you think about it. All servos in one place with linkage up through the finger, when the servo moves back the linkage pulls the finger and, well it works pretty much the same way as those plastic toy robot grabber hand thingys...