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.
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.
Other robots from Synthiam community
Fxrtst's Introducing Alan
Justinratliff's Mini B
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...