A New Hand For Inmoov?


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I've been working on a new hand idea for my InMoov robot. I seriously hacked the Exiii Handii. Their original design had the thumb and index finger moving independently and the other three fingers moving together. I changed it so that all of the fingers move independently and I managed to get all of the finger servos in the hand. I added a wrist movement using one of EZ-Robots Lever servos and the forearm and wrist rotation is from the original InMoov design. Of course it is all controlled with an EZBv4.
Here's a video of it working.

A picture of the back of the hand.

User-inserted image

Then I got playing around with some Flex sensors sewn to a glove I made awhile ago when I first made my InMoov. It took a lot of work, back then, to get it work with an Arduino. So I followed the tutorial on Flex sensors by Steve G and it was EZ to hook up to the v4. Nice tutorial Steve!
Sorry about the quality of this video.

My next goal with this project is to get it running with some ECG leads to control it by flexing muscles.

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I hacked another hand design - http://www.thingiverse.com/thing:380665 adding 5 EZ-Robot micro servos in the hand and 2 heavy duty servos for the wrist. The flexible joints in the fingers makes it easier to grasp objects.
Hello Bob,

cool your new Hand!

But now its difficult to say what is better (both version are cool)

Your are the Expert, so what is your opion? Which is better?

Better to print, better for craping things?

What i see until now, the new hand looks definitiv more like a real Hand!

You know if people have a choice, the problems beginns ;-)



But all new Hands are better then the old one!
Hi Bob,

other question:

Do you think about to install pressur sensors to the fingers?

Maybe its possible to make a little hole in the inside of the finger tops

only 0,2 millimeter inside and 5 mm circle

for the fsr400short


so then its possible to glue the Pressur Sensor inside the finger (thats why the hole - the pressur sensor will be with the finger in one piece)

and check out the pressur.

It only a idea - or do you have a better idea to check the finger pressure?



After 5 times watching the new hand (with flex) i like it really much! More and more
@Renta, I'm not going to say the flexible hand is better than the original hand Gael created, I would never knock what he has created. The flexible hand design is different though and by adding in the servos for the finger movements in the hand makes it possible for the additional wrist movement. The flexible joints help it to conform well to irregular shaped objects.
The Handii hand doesn't grasp objects very at all. Watching the videos, I think it was made to pinch small objects between the thumb and index finger - and that's about it but it does that well.
Adding pressure sensors in a few key locations would definitely good to do as would adding some rubber pads, to improve the grip. Maybe they could be integrated into one. Something to work on.
I'm going to try and print the Flexible Fingers - looks tough, I don't think the flexible filament will work well for the supports needed.
So @Bob, which hand of the 3 do you like/rate the best all rounder?... 1) Gael's original inMoov... 2) The one in post # 1... 3) Your latest one in post #13?
Hi Bob,

so do you print from the new hand, the fingers with PLA/ABS or with FilaFlex?

So for my opinion, the last version is the best. If you have an idea so make some of these rubbers what you mean, with place for the pressur sensor, i take it ;-)

So my biggest wish for christmas:

Please BOB share this cool hand!

I want to give my "Hansi" Inmoov some Hands as a present.



Do you see Gael uploaded the mid Stomach



@Richard, I definitely won't be going with the Handii hand from Post #1. It was an interesting build to see if I could put all those servos in the hand.
I think I'm going to clean up the Flexihand and install it on my InMoov and then compare it with the original design that way. I really like the Flexihand's capability to grasp objects.

@Renta, Tough to share the build other than with photo's. Really - I just started hacking and hot gluing things in place till it worked. I am going to make a proper servo bracket though. I'll keep you posted.
Hello Bob,

no problem with photos! I know the fingers i can download from : https://www.thingiverse.com/thing:380665

my question to this: do you also print this with FilaFlex?

The servo Bed, the Covers and the Wrist Holder.... there is the question( if you are finish and lucky with your design) if you share this stl files to us?

Best wishes

from Boris
I finally got InMoov's new hand installed.

@Bob.... Ok, that hand works way better than the original inmoov hand... Is that the flexihand? Anyway, really awesome work as usual...:)

Did you have to make any design changes to the original stls in order to get the servos to fit into the hand and also the extra wrist joint?
@Bob... Do you think that hand is strong enough to grip and pick up a bottle of water? Really, that hand has so much more dexterity than the original inMoov hand...
Houston the eagle has landed!

Thats it! You got it!

With this Hand your Mission to the next level has success!

I love it!

Like Richard asked: I understand the stl files for the fingers come from thingiverse. But from where we will get the stls for the Hand middle and the cool Wrist.

This was also my old question. Do you will upload you new design STL Files for the Hand? Like you did with the Upgrade Neck Version!

I must make this Hand for my Inmoov!


PS: You are a Genius!
Thanks for the nice comments, I appreciate them. Here's a short video on how I put the servos in the hand. Nothing too hi-tech a dremel tool, hot glue gun, heat gun and some screws. I'll see how it stands up, I may have design something better to connect the hand to the wrist. Yes, it handles a bottle of water no problem. I'm going to put some Sugru on the fingers to improve the grip on smooth objects.
Hello Bob,

nice video!

Slowly i check out what you did!

Ok, a dremel i have!

I think the middle of the Hand i must print with PLA and the Fingers with FilaFlex?

Or only the FFX parts with FilaFlex?

Can you tell us which parts you use?

I think its:



2x FFX_-_Finger_Hinge_Plate.stl

But i did find the Covers for Hand inside and outside (Left and right)

And can you tell me where i can download this EZ-Holder?

Hi Bob,

oki doki now i think i will start to print!

But the cover still make me problems.

I can´t fill holes in a 3d program!

Maybe if you design later some cool covers for the hands and maybe a cool wrist, you can share.

Meanwhile i will print all stuff, what i can print and then we will see.


PS: Your idea with the IR Sensor is great! Easy to build, but i must say a huge possibility!

I will try to put some pressur sensors in the fingertops, that the inmoov will know when he grap to hard.

I inform you what i will done!
I think pressure sensors would be a great addition, I think some other builders have done this too. I'm thinking of adding flexible finger joints to the original InMoov hand - I'll keep you posted.