http://www.instructables.

com/id/Arduino-Wireless-Animatronic-Hand/
Home Sign Up! Browse Community Submit
All Art Craft Food Games Green Home Kids Life Music Offbeat Outdoors Pets Photo Ride Science Tech
Arduino Wireless Animatronic Hand
by njkl44 on December 22, 2010
Table of Contents
Arduino Wireless Animatronic Hand . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Intro: Arduino Wireless Animatronic Hand . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
Step 1: Video . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
Step 2: Control Glove . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Step 3: Custom PCB (Glove) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Step 4: The Hand! . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Step 5: Hand PCB Shield . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Step 6: CODE!!! . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
File Downloads . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Step 7: How I Tested This . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Step 8: Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
File Downloads . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Step 9: Awards!! . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Related Instructables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Comments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
http://www.instructables.com/id/Arduino-Wireless-Animatronic-Hand/
Intro: Arduino Wireless Animatronic Hand
BTW!!!!! This instructable is awsomeeeeee
This is a very simple but at the same time a very hard project depending on your skill level. Lets get to building!
What this is, is a wireless animatronic hand that doesn't need a computer to operate. The user wears a control glove and can control the animatronic hand precisely.
Bellow are some pictures of the final product:
Image Notes
1. Flex Sensors
2. Custom PCB, Xbee, Arduino
Image Notes
1. xbee/Arduono
2. Animatronic hand
3. Servos
Step 1:Video
http://www.instructables.com/id/Arduino-Wireless-Animatronic-Hand/
Step 2:Control Glove
Materials:
Arduino w/ ATMEGA 328
Xbee w/ Shield
5 Flex sensors
Glove
9v
Hook up wire
Custom PCB making tools
(5) 10k resistors
1. Power both of the Arduinos to make sure they operate correctly.
2. Assemble the Xbee radio shields.
3. Connect the Xbee shields to the Arduino by placing on top of the Arduino.
4. Connect the Xbees to the shields and connect them via USB.
5. Take the ATMEGA328 chip off the Arduino so there is a direct link between the computer and the Xbee radio.
6. Configure them in XCTU (default settings will work).
7. From here i built my own PCB (I'm not going to touch on how to do that, there are other very good tutorial out there) I used the data sheet for the sensors from this
site, this is also where i got these sensors:
http://www.sparkfun.com/products/8606
8.From here i put all the boards together and tested it out to see if everything worked (powered on).
9. I sewed the flex sensors onto the glove by poking a hole at top and running the string over and under the sensor so it can still freely move.
10. i built the arm band with some elastically and some STRONG double sided tape.
Step 3:Custom PCB (Glove)
So for the glove i made a custom PCB to connect to the arduino. This PCB is for the 5 flex sensors for arduino inputs. This is my first PCB so it wasn't by any means
complex nor professional. I made this in EAGLE CAD and used the Sharpie Method.
http://www.instructables.com/id/Arduino-Wireless-Animatronic-Hand/
Image Notes
1. PCB
Image Notes
1. Sharpie!!
Image Notes
1. Copper Board
Image Notes
1. Finshed!
Step 4:The Hand!
Materials:
electrical wire tubes (http://www.instructables.com/id/Simple-Animatronics-robotic-hand/)
fishing tackle
electrical tape
LEGOS
5 servos
xbee w/ shield
arduino ATMEGA 328
exact o knife
This took the longest to build...
1. I researched hands and found a diagram where the joints are.
2. I then cut the joints with the exacto knife
3. I put all the fingers together without the thumb.
4. i put the four fingers together and reinforced them with legos
5. i taped the securely and put the thumb over those so it would have human like flex.
6. i taped the servos together filling the spaces with Styrofoam
7. i added all 5 servos to the hand with legos and tape
8. I built the circuit on a breadboard with just delivering power the servos and having the control wires into the Digital input on the arduino
9. i ran fishing tackle from the finger tip through the tube and anchored it onto the servo
http://www.instructables.com/id/Arduino-Wireless-Animatronic-Hand/
Step 5:Hand PCB Shield
For the hand i am still in the process in building a pcb to take away the wires and reduce space. This time i am using to toner transfer method. I again made the
schematic and board layout in EAGLE CAD. i used magazine paper to print onto. I engineered this to be used as a shield on the arduino.
Image Notes
1. This needs to be reversed
2. Servos!
3. Power (+)
4. Power (ground)
5. Digital Outputs
Image Notes
1. Arduino Pins
2. Servo
3. Arduino Power
Step 6:CODE!!!
The Very first thing you want to do is make sure your shield or xbee's are unplugged from the arduino. Or make sure the correct jumpers are the in the right place (in my
case). I have written this code and if you do use it want credit.
This is the code for the sending Arduino:
int Finger1 = 0;
int Finger2 = 1;
int Finger3 = 2;
int Finger4 = 3;
int Finger5 = 4;
void setup()
{
http://www.instructables.com/id/Arduino-Wireless-Animatronic-Hand/
Serial.begin(9600);
}
void loop()
{
byte servoValue1;
byte servoValue2;
byte servoValue3;
byte servoValue4;
byte servoValue5;
int FingerV1 = analogRead(Finger1);
int FingerV2 = analogRead(Finger2);
int FingerV3 = analogRead(Finger3);
int FingerV4 = analogRead(Finger4);
int FingerV5 = analogRead(Finger5);
if (FingerV1 < 200) FingerV1 = 200;
else if (FingerV1 > 460) FingerV1 = 460;
if (FingerV2 < 200) FingerV2 = 200;
else if (FingerV2 > 460) FingerV2 = 460;
if (FingerV3 < 200) FingerV3 = 200;
else if (FingerV3 > 460) FingerV3 = 460;
if (FingerV4 < 200) FingerV4 = 200;
else if (FingerV4 > 460) FingerV4 = 460;
if (FingerV5 < 200) FingerV5 = 200;
else if (FingerV5 > 460) FingerV5 = 460;
byte servoVal1 = map(FingerV1,460, 200, 255, 0);
byte servoVal2 = map(FingerV2,460, 200, 255, 0);
byte servoVal3 = map(FingerV3,460, 200, 255, 0);
byte servoVal4 = map(FingerV4,460, 200, 255, 0);
byte servoVal5 = map(FingerV5,460, 200, 255, 0);
Serial.print(servoVal1);
Serial.print(servoVal2);
Serial.print(servoVal3);
Serial.print(servoVal4);
Serial.print(servoVal5);
delay(100);
}
Here is the receiving:
#include
Servo myservo1; // create servo object to control a servo
Servo myservo2;
Servo myservo3;
Servo myservo4;
Servo myservo5;
void setup()
{
Serial.begin(9600);
myservo1.attach(2); // attaches the servo on pin 9 to the servo object
myservo2.attach(3);
myservo3.attach(4);
myservo4.attach(5);
myservo5.attach(6);
}
void loop()
{
if(Serial.available() >=5)
{
byte servoAng1 = Serial.read();
byte servoAng2 = Serial.read();
byte servoAng3 = Serial.read();
byte servoAng4 = Serial.read();
byte servoAng5 = Serial.read();
// Send the servo to the position read... (note: you get to make this happen)
myservo1.write(servoAng1);
myservo2.write(servoAng2);
myservo3.write(servoAng3);
myservo4.write(servoAng4);
myservo5.write(servoAng5);
}
}
http://www.instructables.com/id/Arduino-Wireless-Animatronic-Hand/
File Downloads
Xbee_Receive.pde (831 bytes)
[NOTE: When saving, if you see .tmp as the file ext, rename it to 'Xbee_Receive.pde']
Xbee_Send.pde (1 KB)
[NOTE: When saving, if you see .tmp as the file ext, rename it to 'Xbee_Send.pde']
Step 7:How I Tested This
I did do this for science fair!
Here is some of my work for it:
So pretty much what i did was take a HD video at 60 fps to get high resolution skills.i came up with three positions to test, fully extended, half extended and unextended.
From here i went into geometers sketchpad and found the angle of each finger at each position for both hands. From here i was able to compare a real hand to my
animatronic hand.
http://www.instructables.com/id/Arduino-Wireless-Animatronic-Hand/
http://www.instructables.com/id/Arduino-Wireless-Animatronic-Hand/
Step 8:Results
Upon conductions of the experiment, using the variables finger, angle, sensor value and position, the fallowing results were produced. During the first test I measured the
angle relationship between my finger and the corresponding finger on the animatronic hand. I found that the index finger, middle finger, ring finger, and pinky all had
about the same sensor value from the flex sensors. The thumb on the other hand was limited in movement compared to the other fingers, and therefore the sensor data
was in a smaller range. I then came up with three positions to test, fully extended, half extended, and unextended. From here I created a video of all my fingers at these
different positions. I then analyzed the videos through the use of editing software and found the angle of each finger at each position.
I then conducted the same procedure for the animatronic hand, finding the angle of each finger at each position in the process. I found that at the fully extended position
the relationship between my finger and the corresponding finger on the animatronic hand was about a 20difference. At half extended the relationship was the closest at
about a 10difference. At unextended I noticed the most difference with my fingers bending almost 30more than the animatronic hand. The thumb was the most
consistent finger with only about 10difference on all three tests. Overall, the comparison of my hand compared to the animatronic hand was greater than I thought. The
position with the greatest difference was fully flexed. What all this means is that the animatronic hand has a relationship with my hand.
Image Notes
1. Regional Science Fair New Paper Photo
File Downloads
sensor value graphs.xls (58 KB)
[NOTE: When saving, if you see .tmp as the file ext, rename it to 'sensor value graphs.xls']
http://www.instructables.com/id/Arduino-Wireless-Animatronic-Hand/
Step 9:Awards!!
A few weeks ago i attended the regional science fair in Durango Colorado. The first award i won was 1st place in the Air Force Engineering. The second award i won was
a Davin chi award which qualified me for the state competition in Fort Colins. The best award i won qualified me to go to the international science fair in LA for a week, all
expense paid, to be an official observer. So i pretty much go to LA for a week and get to check out the sweet project whether i do good at state or not.
http://www.durangoherald.com/article/20110304/NEWS01/703049910/Hands-on-learning
Image Notes
1. Regional Science Fair New Paper Photo
Related Instructables
Configuring
XBees for API
Mode by
quasiben
Wireless Altoids
Display by
Alexdlp
Arduino
Controlled
Motion Sensor
by LemonSlice
XBee adapter by
adafruit
Wireless Altoids
Cycle Computer
by Alexdlp
Carlitos'
Projects:
Wireless
Speech-
Controlled
Arduino Robot
by RobotShop
http://www.instructables.com/id/Arduino-Wireless-Animatronic-Hand/
Comments
28 comments Add Comment
jrider says: Jun 29, 2011. 3:53 AM REPLY
Is it possible to make a full-scale human body with the same principle as your Instructable?
mwolf2 says: Jun 29, 2011. 2:48 PM REPLY
Theoretically, yes, but I think overall you'd have to find some super strong servo's, some super strong yet flexible piping and alot of time to do it. but
overall NO, you'd have to create a biped platform for it to move as a human, costing thousands.
jrider says: Jun 29, 2011. 9:08 PM REPLY
Oh, thanks for the answer.
kalsara01 says: Jun 17, 2011. 8:10 AM REPLY
GREAT GREAT GREAT WORK........... hats off .. wel done pal
rtty21 says: Jan 27, 2011. 8:59 AM REPLY
Add a video!
9ale7 says: Jan 27, 2011. 4:22 PM REPLY
yes a video !!! ( and more pictures while it's in action)
:P
looks amazing !
njkl44 says: Jan 28, 2011. 4:25 PM REPLY
i am going to try this weekend or maybe next week
9ale7 says: Jan 28, 2011. 11:52 PM REPLY
will be waiting :)
njkl44 says: Feb 14, 2011. 5:17 PM REPLY
here a VIDEO!!!
mcmahanly says: May 20, 2011. 2:11 PM REPLY
camera? lens?
bdur says: May 15, 2011. 3:29 PM REPLY
not bad for your first one
thunderconan says: May 6, 2011. 12:13 PM REPLY
can you give me ur email pls ????
njkl44 says: May 6, 2011. 3:57 PM REPLY
Sure thing its [email protected]
joehudy says: Apr 19, 2011. 3:23 PM REPLY
were ded u get the flex sensorsand are thay expensiv
sorry abought spelling
http://www.instructables.com/id/Arduino-Wireless-Animatronic-Hand/
mased007 says: Apr 18, 2011. 10:30 AM REPLY
When I get older I make this :) Thx for good idea.
TheGreatS says: Apr 15, 2011. 2:52 PM REPLY
could you place it on the ground, add some wheels to the back and make it crawl?
chsairam_7 says: Apr 1, 2011. 8:21 AM REPLY
why did'nt you map it to 1024 analog values and 180 servo angles; would'nt that be more effective? I made a similar hand months ago and it was pretty cool
zrattner says: Mar 31, 2011. 5:21 AM REPLY
Cool project. You can clean up that chunk of if's by using the constrain function: arduino.cc/en/Reference/Constrain
Bombbunny says: Mar 5, 2011. 4:13 AM REPLY
What program can I use to open up the xbee recieve and send files?
njkl44 says: Mar 5, 2011. 8:04 AM REPLY
The code here is actually for the arduino. There is no code for the xbees you have to deal with. You configure the xbees in XCTU but you open the code
in the arduino programming program
9ale7 says: Feb 14, 2011. 10:49 PM REPLY
looks amazing
.. what camera did you use?
:P
Macyoshary says: Dec 23, 2010. 1:25 PM REPLY
Really cool instructable!
Just one thing, your first line reads "This is my first inscrutable to its kinda bad."
change "inscrutable" to "instructable" and (I assume) "to" to "so", (and "its" to "it's" but that's forgivable).
It's just that the first line is the first thing anyone sees, so it's good to get it nice.
Otherwise, great!
Spaceman Spiff says: Dec 24, 2010. 4:31 AM REPLY
I'd delete the first line all together. Or replace it with, "This instructable is AWESOME!!!"
lolcat360 says: Jan 29, 2011. 5:29 AM REPLY
Calvin and Hobbes FTW!
Macyoshary says: Dec 24, 2010. 11:20 AM REPLY
Yeah, that could work too :P
kyle brinkerhoff says: Jan 20, 2011. 1:14 PM REPLY
looks a little like darth vaders hand.... awsome work!
maewert says: Dec 22, 2010. 12:40 PM REPLY
Very neat!
I see there is no blocking of data being transmitted. I mean within the stream there is no indication where the stream starts. Does this sometimes get
confused as to which finger is which, especially if the receiving arduino is powered up after the transmitting arduino? If so then you may want to send a
blocking character like '$' before the first finger is transmitted and then the reciever can look for the symbol to remain in sync with the transmitter.
Cool device. I'll have to try this ;-)
Best Wishes.
http://www.instructables.com/id/Arduino-Wireless-Animatronic-Hand/
njkl44 says: Dec 22, 2010. 1:40 PM REPLY
Hey thank you I'm really glad you like it and there's not a whole lot of problems only about if 30 seconds without use the receiving start sending stuff to
the sending wich im nit sure y but I see what you were saying and I may try somthing like that.
Thanks, Easton