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GeezerVison is showing dex-umi.github.io — DexUMI Hardware Assembly Tutorial DexUMI Hardware Assembly TutorialStep-by-step guide for building your DexUMI exoskeleton
Exoskeleton Model PreviewExplore the CAD views of both XHand and Inspire Hand DexUMI Click on a model to view it directly in Onshape. You can also export the model in various 3D formats supported by Onshape.
Feel free to tweak the settings based on your printer and material availability!
PCB SourcingInformation for sourcing and fabricating DexUMI circuit boards
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| Part | Qty | Price |
|---|---|---|
| Materials | ||
| Bambu PLA-CF Matcha Green | 400g | $34.99 (1kg) |
| Electronics | ||
| XH 2.54mm-3P Wire 50cm | 6 | $7.65 (5pcs) |
| RDC506018A Encoder: DigiKey, Mouser | 6 | $1.66 (1pc) |
| Fasteners | ||
| M1x8mm Screws | 4 | $7.99 (100pcs) |
| M1 Hex Nuts | 4 | $4.47 (10pcs) |
| M2 Screws (6/12/16mm) | 8+1+2 | $8.99 (660pcs kit) |
| M2 Lock Nuts | 11 | $9.99 (100pcs) |
| M3 Lock Nuts | 4 | $5.99 (120pcs) |
| D-shape Screws | ||
| M3 Shoulder Screws 8mm | 4 | $5.29 (1pc) |
| M3 Shoulder Screws 15mm | 1 | $4.33 (1pc) |
| M3 Shoulder Screws 25mm | 1 | $4.94 (1pc) |
| Accessories | ||
| Finger Sleeves | 10 | $9.97 (40pcs) |
| 3M TB641 Gripping Material | 1.5ft | $54.14 (15 ft) |
| iPhone Mounting | ||
| M3x16mm Screws + M3 Hex Nuts | 4+4 | $8.99 (600pcs kit) |
| M6x20mm Screws + M6 Hex Nuts | 4+4 | $8.99 (172pcs kit) |
| Camera System | ||
| OAK-1 W | 1 | $249 (1pc) |
| M4x6mm Screws | 2 | $9.99 (300pcs kit) |
| USB-C to USB-A (10ft) | 1 | $16.99 (1pc) |
| Consumables | ||
| Loctite Threadlocker 242 | 0.03 fl oz | $5.98 (0.2 fl oz) |
| UV Resin | 20g | $11.99 (30g) |
| Super Glue | 1pc | $6.98 (4pcs) |
| Lubricate Grease | 0.2oz | $5.98 (8oz) |
XHand DexUMI
| Part | Qty | Price |
|---|---|---|
| Materials | ||
| Bambu PLA-CF Matcha Green | 600g | $34.99 (1kg) |
| Electronics | ||
| XH 2.54mm-3P Wire 50cm | 12 | $7.65 (5pcs) |
| RDC506018A Encoder: DigiKey, Mouser | 12 | $1.66 (1pc) |
| Fasteners | ||
| M2 Screws (12/16mm), M2 Hex Nuts | 7+6+8 | $8.99 (660pcs kit) |
| M2 Lock Nuts | 5 | $9.99 (100pcs) |
| M3 Hex Nuts | 7 | $8.99 (600pcs kit) |
| M3 Lock Nuts | 7 | $5.99 (120pcs) |
| D-shape Screws | ||
| M3 Shoulder Screws 10mm | 9 | $3.12 (1pc) |
| M3 Shoulder Screws 20mm | 3 | $5.65 (1pc) |
| Accessories | ||
| Cable Ties | 5 | $6.28 (60pcs) |
| 3M TB641 Gripping Material | 1.5ft | $54.14 (15 ft) |
| iPhone Mounting | ||
| M3x16mm Screws + M3 Hex Nuts | 4+4 | same as above |
| M6x20mm Screws + M6 Hex Nuts | 4+4 | $8.99 (172pcs kit) |
| Camera System | ||
| OAK-1 W | 1 | $249 (1pc) |
| M4x6mm Screws | 2 | $9.99 (300pcs kit) |
| USB-C to USB-A (10ft) | 1 | $16.99 (1pc) |
| Consumables | ||
| Loctite Threadlocker 242 | 0.02 fl oz | $5.98 (0.2 fl oz) |
| UV Resin | 20g | $11.99 (30g) |
| Super Glue | 1pc | $6.98 (4pcs) |
| Lubricate Grease | 0.2oz | $5.98 (8oz) |
Electronics Bill of Materials (BOM)
All electronic components and modules for DexUMI circuits
Electronics Bill of Materials (BOM)
All electronic components and modules for DexUMI circuits
This is a compact summary of all hardware components required. Tables are grouped by device and category. Click the links to purchase directly.
Electronic Modules
| Part | Qty | Price |
|---|---|---|
| Modules | ||
| STM32F042K6T6 Core Board | 1 | $15.39 (1pc) |
| ADS1256 Module | 2 | $15.44 (1pc) |
| USB to TTL Module | 1 | $9.95 (3pcs) |
| ST-Link V2 Downloader | 1 | $5.99 (1pc) |
| Accessories | ||
| DC Power Supply | 1 | $60.15 (1pc) |
| XT30 Female Connectors w/ Wire | 1 | $8.58 (5pcs) |
| Dupont Cable Male to Female | 3 | $6.98 (120pcs assorted) |
| Automotive Cloth Tape | 1 rolls | $9.99 (2pcs) |
Prepare Common Components
Essential components needed for both exoskeleton
Prepare Common Components
Essential components needed for both exoskeleton
Items
- D-screw components (screws, nuts, and tools)
- Encoder cable materials
- Encoder module parts
Make D-Screw
Prepare Encoder Cable
Build Encoder Module
XHand Exoskeleton Assembly Guide
XHand Exoskeleton Assembly Guide
XHand Index Assembly Guide
XHand Middle/Ring/Pinky Assembly Guide
Xhand Thumb Assembly Guide
Assemble Fingers to the Palm
Oak Camera Mounting
Connect XHand Exoskeleton to the DexUMI Circuit Board
Follow the wiring sequence shown in the image below to connect encoders to the circuit board.
Inspire Hand Exoskeleton Assembly
Inspire Hand Exoskeleton Assembly
Inspire Index/Middle/Ring/Pinky Assembly Guide
Inspire Thumb Assembly Guide
Step 3: Oak Camera Mounting
Connect Inspire Hand Exoskeleton to the DexUMI Circuit Board
Follow the wiring sequence shown in the image below to connect encoders to the circuit board.
Share Steps
Steps needed for both exoskeleton
Share Steps
Steps needed for both exoskeleton
iPhone Mounting
Finger Grip Tape
Flash the Firmware to DexUMI MCU
To flash the firmware into the MCU, we first need to install openocd on the target PC:
sudo apt-get install openocd
Then connect the MCU with ST-LINK V2, as shown below:
Finally, run this script to flash the firmware into the MCU.
For Inspire Hand DexUMI:
openocd -f interface/stlink-v2.cfg -f target/stm32f0x.cfg -c "program DexUMI_Inspire.hex verify reset exit"
For XHand DexUMI:
openocd -f interface/stlink-v2.cfg -f target/stm32f0x.cfg -c "program DexUMI_XHand.hex verify reset exit"
Connect the DexUMI Circuit Board to Your PC
First, we need to install the MCU board and ADC modules on the DexUMI circuit board.
Insert the MCU at the top of the board, as shown below:
Then insert the ADC modules at the bottom of the board:
Next, power on the board. Connect DC 5.0V 1.0A through the XT30 female connector using a wired input, then press the switch to power up.
Finally, connect the board to your PC using a USB-TTL module, as shown below:
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