🤖 Robotic Hand Project

A wireless gesture-controlled robotic hand built with Arduino, flex sensors, and NRF24L01 radio modules. A glove fitted with flex sensors captures hand movements and transmits them wirelessly to a 3D-printed robotic hand, which mirrors the gestures in real time via servo motors.

Originally developed as an open-source prosthetic research platform.

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📸 Demo

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✨ Features

• Real-time wireless gesture control via NRF24L01 (250KBPS, ~100m range)
• 5-finger articulation using MG996R servo motors
• Flex sensor glove for intuitive hand tracking
• Per-finger calibration support
• Simple, hackable codebase — easy to extend

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📁 Repository Structure

robotic-hand-project/
│
├── firmware/
│   ├── transmitter/        ← glove Arduino code
│   ├── receiver/           ← hand Arduino code
│   ├── test_sensors/       ← flex sensor calibration helper
│   └── servo_test/         ← servo sweep test
│
├── hardware/
│   ├── schematics/         ← wiring diagrams
│   ├── pcb/                ← PCB files
│   ├── mechanical/
│   │   └── robotic-hand-stls/  ← 3D print files
│   ├── assembly-guides/    ← step by step assembly
│   ├── datasheets/         ← component datasheets
│   └── BOM.md              ← full bill of materials
│
├── docs/
│   ├── calibration.md      ← flex sensor calibration guide
│   └── troubleshooting.md  ← common issues and fixes
│
├── images/                 ← photos and demo gifs
├── .gitignore
├── LICENSE
└── README.md

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🛠️ Materials

Full bill of materials with component links and prices → hardware/BOM.md

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🗺️ Schematics

Wiring diagrams for both transmitter and receiver → hardware/schematics/

⚠️ Power the NRF24L01 modules from the 3.3V pin only — they are not 5V tolerant.

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🖨️ 3D Model

The hand structure is sourced from Viral Science. Print files are available in hardware/mechanical/robotic-hand-stls/.

Print settings:

• Material: PLA or PETG
• Infill: 20–30%
• Supports: Yes (for finger joints)

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⚙️ Setup

1. Clone the repository

git clone https://github.com/SoloScriptSage/robotic-hand-project.git

2. Install Arduino libraries

In Arduino IDE go to Sketch → Include Library → Manage Libraries and install:

• RF24 by TMRh20
• Servo (built-in)

3. Assemble the hardware

• Print and assemble the 3D hand following the guides in hardware/assembly-guides/
• Wire flex sensors to the glove according to the schematics
• Wire servos to the receiver board according to the schematics

4. Calibrate the flex sensors

Follow the step-by-step guide → docs/calibration.md

5. Flash the firmware

• Flash firmware/transmitter/transmitter.ino to the glove Arduino
• Flash firmware/receiver/receiver.ino to the hand Arduino

6. Test

• Flash firmware/servo_test/servo_test.ino to verify all servos sweep correctly
• Power both Arduinos and open Serial Monitor — you should see sensor values on the transmitter and matching received values on the receiver

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💻 Code Overview

File	Description
transmitter.ino	Reads flex sensors, maps to servo angles, transmits via NRF24L01
receiver.ino	Receives data, writes angles to servo motors
test_sensors.ino	Prints raw flex sensor values for calibration
servo_test.ino	Sweeps all servos 0→180→0 for hardware testing

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🧪 Testing

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📖 Docs

• Calibration Guide
• Troubleshooting

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🚀 Roadmap

• Per-finger calibration via Serial Monitor wizard
• Haptic feedback on glove (vibration motors)
• NRF24L01 external antenna for extended range
• Replace flex sensors with IMU-based gesture recognition
• Full prosthetic enclosure design
• Support for wrist rotation (6th servo)

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🙏 Acknowledgments

• Viral Science for the 3D hand model
• TMRh20 for the RF24 library
• The open-source Arduino community

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📄 License

This project is open-source under the MIT License.