Mechatronics Learning Studio
Hand to Mechanical Hand
Justin Leclair, Guillaume Archambault, and
Dept of Mechanical Engineering, University of
3 HS 785 Sail Winch Servos*
All Round Galvazined trapping (3/4 in)
Hexagonal nuts and bolts
3 long door springs
Corner braces (6)
Wooden plank (base)
Attach a cotton string to the tip of one of the
fingers and pass the string through the metal loops towards the
motor’s pulley in line with it and repeat for every finger.
Put grease in every joints on the fingers
Connect a 5V power source (Battery or USB-B plug
from a computer) in the proper port on the Arduino board.
There are 2 wires coming out of every sensor on
the glove (green for thumb, black for index and white for middle
Attach one of these wires to the corresponding
color lines on the breadboard.
Attach the other wire in series with the resistor
on the breadboard as shown.
Connect the motors (steps for
Connect the red line of the motor to the power
line on the breadboard
Connect the black line to the ground line on the
Connect the yellow line in digital 1 for the
thumb, digital 2 for index and digital 3 for middle finger on
the Arduino’s ports.
Put the glove on.
Calibrating the motors
Put your hand flat (with palm toward the table).
The motors should move a bit. They are going to their initial
positions (position 0)
With the help of someone else, attach the strings
coming from the 3 fingers to the pulley of the motor (white
section) with a sturdy knot.
Adjust the length of the string in order to get a
small tension in the initial position of the motors. Cut the
Adjust the strength of the springs by changing
the length of the tie wraps
The 3 fingers can now be used as a hand to grasp
Appendix - Motor’s specification