Sign language is a vital visual-manual communication method for individuals with hearing impairments, yet current robotic systems remain expensive and technically inaccessible for embodied interaction. We present FABRIC, a low-cost, end-to-end toolkit that enables users to 3D print expressive robots and program bodily language through learning-from-demonstration. FABRIC supports upper-torso motion replication using video input and offers an intuitive visual programming interface, lowering barriers to designing embodied, communicative robots for diverse applications.
BIBTEX coming soon.
Components of the FABRIC robot:
(a) Assembled FABRIC unit
(b) Shoulder joints
(c) Finger movement servos mounted inside the upper arm
(d) Elbow and wrist joint
(e) Robotic hand
 Body |
 Elbow |
 Head |
 Shoulder |
 Wrist + Hand |
 Rivets |
 Stand |
Arduino Firmware of ESP32 (UART Version)
Will be updated soon.
| Component | Quantity | URL |
|---|---|---|
| ESP32 microcontroller | 1 | Link |
| PCA9685 Servo Driver | 2 | Link |
| LM2596S DC-DC Converter | 1 | Link |
| MG996R Servos (arm) | 8 | Link |
| SG90 Servos (finger/wrist) | 14 | Link |
| PLA Filament (~1.5 kg) | ~1.5 kg | Link |
| TPU Filament (~0.25 kg) | ~0.25 kg | Link |
| PTFE Tube | 1 meter | Link |
| Power Adapter (12V 10A) | 1 | Link |
| Display (7" Raspberry Pi LCD) | 1 | Link |
| Jumper Wires, Headers | — | Link |
| Nylon String (Cables) | — | Link |
| Superglue | — | Link |
| Screws, zip ties | — | Link |