Work in progress. Picking up where I left off after a long school-induced hiatus. Some assets were lost - visuals and docs are being rebuilt.
S.A.R.R.A is a robotic hand that mirrors the movement of a real human hand in real time. A live camera captures the user's hand, a machine-learning model translates the gesture into joint targets, and an Arduino drives the servos across four degrees of freedom.
Started in 2023 as an undergraduate research project, the goal is to explore how accessible, vision-based control can make assistive robotics more approachable for rehabilitation.
camera ──> hand detector (MediaPipe) ──> gesture classifier ──> serial ──> Arduino ──> servos
| Layer | Stack |
|---|---|
| Vision | OpenCV, MediaPipe Hands |
| ML | Custom gesture classifier on 21-keypoint landmarks |
| Control | Arduino Uno R3, servo PWM via digital pins |
| Mechanics | InMoov hand (PLA), MG996R servos |
| Arduino Uno R3 Microcontroller — reads input, drives PWM |
MG996R Servos High-torque actuation per finger joint |
| 10 kΩ Potentiometers Analogue feedback (A0, A1) |
L298N Motor Driver H-bridge for direction & speed |
| InMoov Hand 3D-printed PLA chassis (Gael Langevin) |
USB Webcam Live frames into the gesture pipeline |
| Battery Portable power for untethered operation |
Jumper Wires & Breadboard Prototyping |
📁 S.A.R.R.A/
├── 📁 docs/
│ └── 🖼️ hand.svg
├── 📁 electronics/
│ └── 📄 DESCRIPTION.md
├── 📁 mechanical/
│ ├── 📁 fingers/
│ │ ├── 📄 Auriculaire3.stl
│ │ ├── 📄 Index3.stl
│ │ ├── 📄 Majeure3.stl
│ │ ├── 📄 ringfinger3.stl
│ │ └── 📄 thumb5.stl
│ ├── 📁 forearm/
│ │ ├── 📄 robpart2V4.stl
│ │ ├── 📄 robpart3V4.stl
│ │ ├── 📄 robpart4V4.stl
│ │ └── 📄 robpart5V4.stl
│ ├── 📁 servobed/
│ │ ├── 📄 RobCableBackV3.stl
│ │ ├── 📄 RobCableFrontV3.stl
│ │ ├── 📄 RobRingV3.stl
│ │ ├── 📄 RobServoBedV6.stl
│ │ ├── 📄 servo-pulleyX5.stl
│ │ └── 📄 TensionerRightV1.stl
│ └── 📁 wrist/
│ ├── 📄 CableHolderWristV5.stl
│ ├── 📄 RotaWrist1V4.stl
│ ├── 📄 RotaWrist2V3.stl
│ ├── 📄 RotaWrist3V3.stl
│ └── 📄 WristGearsV5.stl
├── 📁 software/
│ ├── 📁 Forearm/
│ │ └── 📄 Forearm.ino
│ └── 📄 main.cpp
├── 📄 .gitignore
├── 📄 LICENSE
└── 📄 README.md
| Phase | Status |
|---|---|
| Mechanical | InMoov hand printed |
| Hardware | In progress |
| Firmware | In progress |
| ML | Gesture pipeline — rebuilding |
| Docs | In progress |
- InMoov Hand & Forearm — Gael Langevin
- Arduino Robot Arm — Eben Kouao
- Arduino Project Hub: Robotic Arm — zezarandrade
MIT License
Built by @fiifidawson. Full project context lives on the website.