Hackberry portal Forum HACKberry Q&A Sensor board

This topic contains 29 replies, has 11 voices, and was last updated by  Hiroshi Yamaura 3 years, 7 months ago.

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    Hello my name is Eduardo, I have a little question about the data adquisition.
    It´s posible to shared some imformation or bibliography of IR sensor with EMG or any kind of study.

    Thanks for all.


    Hiroshi Yamaura

    Hi Eduardo. Do you mean you need the information of IR sensor?
    The sensor is TPR-105. You can see the data sheet here http://goo.gl/u5T0Ro
    (HACKberry doesn’t use EMG).



    thanks but I would some studies of IR in the muscle.
    If it´s posible shared some information like this.
    Thanks for all Hiroshi , excellent project .


    Hiroshi Yamaura

    Sorry for late reply.
    Please check Fig.6 in this paper from the following link.
    Although this is written in Japanese, maybe you will be able to understand how to sense muscle contraction level using IR sensor. Japanese researcher Dr. Yoshikawa Masahiro gave us the idea of this method.

    If you have an access to IEEE Xplore, please see check this paper.

    Masahiro Yoshikawa, Yuya Taguchi, Shin Sakamoto, Shunji Yamanaka, Yoshio Matsumoto, Tsukasa Ogasawara, Noritaka Kawashima, “Trans-Radial Prosthesis with Three Opposed Fingers, ” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2013), pp.1493-1498, Tokyo, Japan, Nov, 2013.

    The sensing method is maybe written in this paper but I can’t see this because it is not free.


    Hi Hiroshi, My name is Tima and I got involved with couple groups of makers in Colorado, USA to make 3D prosthetic/bionic hands for kids as part of the e-NABLING the Future volunteer program. It is very nice of you guys to make exiii-HACKberry hand open-source so that more people can have an access to this cool hand.

    We almost got all the parts for a hand printed. I’m gathering parts you listed in your BOM spreadsheet and haven’t been able to find the IR sensor TPR-105 in the US, however found couple different ones (QRD1114 and RPR220). I’m wondering if there is a criteria for selecting an IR sensor for the HACKberry hand muscle sensing. Would either QRD1114 or RPR220 work? I attached the links to the datasheet of these sensors below.


    Hiroshi Yamaura

    Hi Tima,Thank you for contacting us.
    Of course, our team know the e-NABLING the Future well and like your program very much.

    As for sensor, I’m not sure but you can use QRD1114.
    The important thing is that you can measure precise distance from sensor to skin surface.

    If your muscle contract, the cushion will be compressed and this distance will become shorter. You can measure this change using IR sensor.
    Since we are using the cushion in 5[mm] thickness, IR sensor should be able to measure the distance from approximately 2[mm] to 5[mm] precisely.
    According to the datasheet, QRD1114 can measure 30 [mils] to 200 [mils](= 0.762 [mm] to 5.08[mm]).
    Therefore, I think it will work.

    However, QRD1114 is 3.2[mm] thicker than TPR-105. You may have to use thicker cushion.


    Filipe Ferreira

    Hiroshi Hello, congratulations for the great design!
    In this project were used electromyography or only the distance sensor TPR 105?

    You chose the TPR-105, because it can capture negative distances, as his datasheet: Tolerance is ± 0.25mm unless otherwise Noted, and realized the graphic relatie light current X distance d (mm).


    I can´t buy the TPR-105 in my country, but if i meet other sensor with this feature (measured negative distance) also will give right?

    Could you clarify me these questions?



    Hiroshi Yamaura

    Hi Filipe,

    In this project were used electromyography or only the distance sensor TPR 105?

    In this HACKberry project, we only use the distance sensor TPR 105. We don’t use electromyography.

    You chose the TPR-105, because it can capture negative distances, as his datasheet: Tolerance is ± 0.25mm unless otherwise Noted, and realized the graphic relatie light current X distance d (mm).

    Sorry, I can’t understand the meaning of “negative distances”.
    The important thing is that the sensor can measure the distance from sensor to skin surface.
    Please see my previous post. http://exiii-hackberry.com/forums/topic/sensor-board/#post-193
    If you give me other sensor’s data sheet, I can give you some suggestions about it.

    By the way, did you see this data sheet? I add this url for other people.


    Josimar Finamore

    Hiroshi Yamaura, good afternoon

    I’m having trouble finding the TPR105 in Brazil. But according to a friend CNY70 and wanted your opinion could actually replace.


    Josimar Finamore


    Hiroshi Yamaura

    Hi Josimar,
    P5 fig.9 indicate that CNY70 can measure the distance from 0 to 10 [mm].
    Therefore, I think it can replace TPR105.


    Josimar Finamore

    We started printing the parts 🙂


    Hiroshi Yamaura

    I found the google slide provided by Japanese researcher Yuta Sugiura.

    Although this slide is written in Japanese, this method provide us how to make photo-reflector sensor using universal PCB. The model numbers of components and electrical resistivity are bit different from our sensor.
    Our sensor’s schematics are as follows.

    Please also check the github. If you are kicad user.


    Hiroshi Yamaura

    I posted some pics of pcb boards on “Update of github ” forum.
    I also post them here because I think they are also useful for this topic.

    These are pics of them.
    However, these patterns are not the latest ones.
    Please refer the github data for the latest.

    -Sensor Board

    -Hand Board

    -Battery Board


    Mike LI

    I found an alternative for TPR 105. It is called SG-105. It seems their specification are same.


    And Dr Yuta San has researched many applications for using this sensor.

    Hope the information is useful.

    From Hong Kong.


    Hiroshi Yamaura

    Thank you for very helpful information!
    Is SG105 available in HongKong?

    I also want to know whether SG105 is available in other countries or not.
    If so, I will add SG105 to BOM list as a substitution of TPR-105.
    Any information would be appreciated.


    Mike LI

    Hi Hiroshi,

    Yes, it is available in Hong Kong as we mostly buy electronics components from China portal http://www.taobao.com



    Hello Hiroshi, I wonder what kind of cushion/foam you use on the sensor unit. We have to get it online, it would help to order the right materials. Thank you./Tima


    Hiroshi Yamaura

    I didn’t know TaoBao deals with such a wide range of items. Thanks!

    Although I am still searching softer one, I currently use INOAC polon sponge with a sticky PON-02 100 mm / thickness 5 mm. I use it because it is dimensionally stable.


    Hiroshi Yamaura

    I heard that QRD1114 worked as a substitution of TPR-105 on this topic [ http://exiii-hackberry.com/forums/topic/tpr-105-ir-sensor-in-the-us/#post-418 ].
    It may be helpful information for people who can’t get TRP-105.


    Nathaniel Branch

    Hey do you think you could send me a blue print of the hand.


    Hiroshi Yamaura

    What does a blue print mean?
    You can get all related files such as 3D data, garber data or arduino sketch from github.


    Hiroshi Yamaura

    Hi all,
    I just found QRE 1113 at MOUSER[ http://www.mouser.jp/_/?Keyword=QRE1113 ].
    It can replace TPR-105.

    It is also available in Sparkfun [ https://www.sparkfun.com/products/9453 ].
    The important thing is that the Sparkfun’s one is breakout board.
    You don’t need to make PCB board.
    All you have to do is just to wire it to Arduino micro.
    It will completely work as HACKberry’s muscle sensor.

    I think the sensor was our bottleneck.
    I hope it will help many people who want to make HACKberry.


    hello , I have question.. if you use the IR sensor can each finger move separately or I have to use EMG for that?



    Hiroshi Yamaura

    I think you have to use EMG for that purpose.
    Although this IR sensor system is affordable and stable,
    you can control only 1 degree of freedom.


    Hi Guys! I have been thinking of building one of these IR sensor boards. I was wondering if you could give me more detail on how they work, especially the construction of it (images, sketches, etc.). I think what you guys are doing is amazing. Thanks.


    Hiroshi Yamaura

    Hi Stephan,
    Our sensor board is basically the same with QRE1113 break out board[https://www.sparkfun.com/products/9453].
    With regard to its signal, please check this movie.

    This sensor is set on the skin using velcro band.

    The sensor unit is like this.


    Thank you so much!


    MoldiTux Tuxtepec

    Thanks hiroshi, i wll get the QRE1113 in my country 😉


    Cody Dalton

    What is the benefit of using the IR sensor system over EMG to attempt to get all fingers functioning individually?


    Hiroshi Yamaura

    The benefit of this method is the price and the usability.
    Dry type EMG sensor is expensive.
    Wet type EMG sensor is not easy to use because we have to change adhesive disposable electrodes everytime.
    The IR sensor method can easily measure the muscle contraction level stably with affordable price.
    Maybe you can’t recognize all fingers movement individually by using the IR sensor method.

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