A New Hand For Inmoov?

Fantastic Bob! You are showing some serious design skills.... way more realistic than inMoov's current hand(s). I would love to print this hand and experiment.... The fact you got all the servos in the hand is an awesome feat in itself... If there is a way to get the thumb to close too that would be over the top man.... Will you be creating a left hand too?....

Thanks Richard. I want to get it working with some ECG leads now. They have only released the right hand so make the left hand I'll have to mirror some parts with my CAD. The thumb movement is limited so, I'm going to play with it a bit more.

Hello Bob,

It looks phantastic.

Better then the original!

I know you are a genius, that why i am asked you.

Now i know what i am doing the next weeks!

The Inmoov comes now to the next level.

Do you have an idea for a cover for the Back of the Hand?

I am fall in love with this Hand!

Boris

Here's a picture of the back of the hand with the cover on.

Wo Ho! That's Sickly cool and strangely disturbing. Bob, I'm so impressed and awed. I can't wait to see what barrier you break next. eek

That's pretty friggin awesome

Excellent job!

Thanks everyone. I'm continuing to tweak it, new thumb added today, once I get my hands on some ECG/EMG sensors, I'll take it to the next level.

Hi Bob,

i can´t wait to print your cool new hand also for my Inmoov.

Do you check with your new Hand to grap a Coke-Can or something diffrent?

Boris

That's great Bob. Started watching the video and I was thinking "that hand has got some nice fluid movement". Then I saw your hand appear with the flex glove... and I was even more impressed. Seriously cool.

Thanks Steve, like I said in an earlier post, connecting that glove to an Arduino was a ridiculously labourious task. With the help of your tutorial it was ridiculously EZ to get it working with the v4. Standby though, I have finally got my printer to print flexible filament, so I am working on another hand design which, so far, looks like a better alternative.

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 ;-)

Boris

PS:

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

http://www.produktinfo.conrad.com/datenblaetter/1000000-1099999/001008977-da-01-en-DRUCKSENSOR_FSR400SHORT.pdf

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?

Boris

PS:

After 5 times watching the new hand (with flex) i like it really much! More and more

Hello Bob,

do you check this FilaFlex Hand Version from April 2015:

https://www.thingiverse.com/thing:754513

Boris

@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.

Boris

PS:

Do you see Gael uploaded the mid Stomach

http://inmoov.fr/inmoov-stl-parts-viewer/?bodyparts=Mid-Stomach

http://inmoov.fr/inmoov-stl-parts-viewer/?bodyparts=Low-Stomach

http://inmoov.fr/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.

engenius!

@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!

Boris

PS: You are a Genius!

You do some nice work! Excellent.

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:

RH_Hand_Body.stl LH_Hand_Body.stl

RH_Finger_Plate.stl LH_Finger_Plate.stl

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?

Boris

Hi Boris, I printed Hand Body and fingers in PLA and the hinges with flexible filament. The EZ Robot servo holder is found in Community/3D Printing, here's a link, https://synthiam.com/Community/Revolution/EZBitDetails.aspx?guid=262d8448-c0b2-4402-a91f-6e5e7e6b9144 The palm cover is here - http://www.thingiverse.com/thing:380665/#files I filled it in then printed it. I had to increase the size so you have to play with it a bit.

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.

Boris

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.