The tilt sensors are made from a couple of potentiometers. The shafts need to rotate with very little torque to allow an offset weight on the shaft to move the shaft.

A mounting bracket is cut from an old scrap box. Old plastic cases can make great building material to fabricate projects. I never throw anything away. :)

Next, assemble the offset weight for the shaft.  Again, it is cut from an old plastic case and a couple of nuts and a bolt are used for the weight. 

Slide the weight assembly onto the shaft of the potentiometer, and we have an analog tilt sensor.

The weighted shaft should be able to move freely as the potentiometer is tilted.

Once the two assemblies are mounted, they will be used to detect the pitch and roll of the hand. This motion will be used to control forward, backward, left and right motion of the robot.

Next step, cut a piece of plastic to fit in your palm.

Position and glue the two tilt switches on the plastic board. One is positioned to tilt forward and backward, and the other tilt switch is positioned to tilt left and right.  After the glue is dry, add pop rivets to secure both sensors to the board.

With the palm pointing down, both weighted shafts should swing freely. A little bulkier than I imagined, but it will work for the first proof of concept prototype.