MuTech RoboticsLearning Hub
Kids OK with adult2× ESP32Level 3/3

Gesture-Controlled Robot Arm

Wear a glove with a tilt sensor. The arm copies your hand, with no wires and no app.

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Gesture-Controlled Robot Arm
Kids OK, with an adult

DIY project. Children must build this only with an adult (16+ years) beside them at all times. Not suitable for children under 8 years.

In the glove code use Wire.begin(25, 26) for the I2C pins.

Strictly follow the description given with this video.

Video

The video link will be added here soon.

How it works

  1. The MPU6050 on the glove measures how your hand tilts and rolls.
  2. ESP32 #1 sends the angles over ESP-NOW, a direct radio link with no router.
  3. ESP32 #2 on the arm turns the angles into servo positions.
  4. The finger button closes and opens the gripper.

Parts you need

  • 2× ESP32 dev boards₹518× 2Buy
  • MPU6050 (GY-521)₹172× 1Buy
  • Push button₹3.45× 1Buy
  • 4× SG90 / MG90S servos₹218× 4Buy
  • 5V 3A supply₹253× 1Buy
  • Small USB power bank (glove)× 1Buy
Kit for this projectPrice on request
Get the kit

Wiring

Glove: MPUVCCGNDSDASCLESP32 #1VINGNDD25D26D15Glove: buttonSIGGNDESP32 #2D14D27D26D25GNDArm: base servoArm: shoulder servoArm: elbow servoArm: gripper servo5V 3A supply+−All servo 5VAll servo GNDSupply−
PowerGroundSignal
#FromConnect to
1 PowerGlove: MPU VCCESP32 #1 VIN
2 GroundGlove: MPU GNDESP32 #1 GND
3 SignalGlove: MPU SDAESP32 #1 D25
4 SignalGlove: MPU SCLESP32 #1 D26
5 SignalGlove: button SIGESP32 #1 D15
6 GroundGlove: button GNDESP32 #1 GND
7 SignalArm: base servoESP32 #2 D14
8 SignalArm: shoulder servoESP32 #2 D27
9 SignalArm: elbow servoESP32 #2 D26
10 SignalArm: gripper servoESP32 #2 D25
11 PowerAll servo 5V5V 3A supply +
12 GroundAll servo GND5V 3A supply −
13 GroundESP32 #2 GNDSupply − (common ground)
A wiring step from the video
A wiring step from the video

3D print files

  • glove_wrist_pod.stlPETG / TPU strap · 0.2 mmDownload
  • finger_button_ring.stlPLA · 0.2 mmDownload
  • arm_base_turntable.stlPLA+ / PETG · 0.2 mmDownload
  • arm_links_gripper.stlPLA+ / PETG · 0.2 mmDownload

Code

The tested Arduino / ESP32 code for this project will be posted here, ready to copy.