Flex sensor glove

thingiverse

These are the printable parts for a "flex sensor glove" used to control the movements of a robotic prosthetic hand, designed for a patient who lost his right hand. Surgery spared part of the wrist, so "standard" prosthetics could not be used. We decided to avoid myo-electric input commands since they have need for signal amplification, and instead we realized this sensor glove to "clone" the movements of the left hand. Inspiration came from the Nintendo Power Glove. We built a voltage divider out of the flex sensors to have an Arduino Nano read the data from analogic pins. Then, NRF24L01 transmits finger movements, over WiFi, to the hand, which is available at: https://www.thingiverse.com/thing:3771283 . Use the attached .STLs to print the box for the electronics and for reinforcing the soldering on the sensors’ connectors, which are very fragile. Videos of the hand "in action" are available at the following addresses: Movement: https://youtu.be/9lCXrkcVzPw Tendons: https://youtu.be/tw_zP7BXp7E Writing: https://youtu.be/Fz-MuXwgLbw Grabbing a round object: https://youtu.be/AQXdd-NVf8E Grabbing an heavy object: https://youtu.be/TT7kAvTvNJQ Using the phone: https://youtu.be/0eBjgeCwozA Remote control: https://youtu.be/8eH8Bw6Lkv4 On the field: https://youtu.be/TUoOgagwnh8 Electronics require 5 2.2’’ flex sensors, Arduino Nano and NRF24L01 boards, and a cell phone power bank. The full story of the realization of the hand, detailed building instructions, and the patient’s case, are reported in a book (in Italian), which is available at http://www.sanditlibri.it/ or https://www.amazon.it/dp/8869283291/ .