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.
@INPROCEEDINGS{11247443,
author={Arabi, Abul Al and Kim, Jeeeun},
booktitle={2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
title={FABRIC: FAbricating Bodily-Expressive Robots for Inclusive and Low-Cost Design},
year={2025},
volume={},
number={},
pages={1139-1146},
keywords={Humanoid robot, Sign language robot, 3D Printing, Pose Estimation, Learningfromdemonstration},
doi={10.1109/IROS60139.2025.11247443}}
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 |