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  • in reply to: Need Help With 3D Printing the Parts #449

    Hiroshi Yamaura
    Keymaster

    Hi Essa,
    Thank you for joining our open-source project.

    1.) Could someone tell me which FILES from the STL/HACKberry_STL_v1 folder on GitHub I would need to print together in order to minimize printing time?

    First of all, I have to apologize to you.
    Current HACKberry’s data is not so sophisticated.
    You will be forced to make many try & error to complete assembling including 3D printing.
    If you can’t do so, I can’t recommend you to try it for now.

    2.) From the little research I’ve done, the orientation of the parts apparently plays a role in the final outcome. Are there any specific parts that I should orient in any specific way rather than just starting up the printer using the default orientation from the files?

    I think the parts contains shaft holes must be placed so that the shaft axis is lined up with the Z-axis.
    It is important for its strength.

    Will this pose a huge issue?

    Maybe you can use not only ABS but also PLA to print it. It is not a big deal.

    Also, what temperatures would you all recommend I print the parts at?

    Temperature is depend on the material. Please check the specification of the filament.

    in reply to: Reports from Pikes Peak Makerspace #443

    Hiroshi Yamaura
    Keymaster

    OK. I will let you know the filetype what we need.
    I use KiCAD and our intern uses EAGLE.
    I don’t know how to deal with the data between Altium and KiCAD and EAGLE but will find.
    (We also have access to Altium but haven’t used yet).

    By the way, I want to change the place of discussion.
    Can we continue to talk this topic here?
    http://exiii-hackberry.com/forums/topic/development-of-handboard_v2/

    in reply to: Development of HandBoard_v2 #440

    Hiroshi Yamaura
    Keymaster

    Our team started to discuss the layout of the buttons.
    We can use the space enclosed in red rectangles.

    If we can move the pcb to back side, we can use the space above the small motor.
    However, we have to move the pcb more than 4 mm(section B-B) for that purpose. It’ll be a little difficult for DC Jack(section C-C).

    If DC-DC converter will be integrated to HandBoard_v2, we can lay down the small motor and fill in the rectangular hole in the pcb.

    Anyway, we will investigate more about the layout.
    In our experience, too many buttons will confuse users.
    We want to reduce the number of buttons as much as possible.
    For example, we don’t want to add RESET button because power lever can serve that function.

    I’ll post the follow-up.

    in reply to: Sensor board #432

    Hiroshi Yamaura
    Keymaster

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

    in reply to: Reports from Pikes Peak Makerspace #430

    Hiroshi Yamaura
    Keymaster

    Can you send me a sketch that shows the positions of the buttons, LEDs and RESET that you have in mind?

    Sorry, we need more couple of days to think over it.
    Please wait for a while.

    We’re looking into combining the converter to the new pcb board.

    Thank you. Give your opinion when you finished your investigation.

    in reply to: Reports from Pikes Peak Makerspace #429

    Hiroshi Yamaura
    Keymaster

    Tima
    Sorry for late reply.

    Will it saves you some time if we go over some sketches back and forth few times and we produce a set of the pcb to send you to finalize the 3D data?

    Yes, it will be really helpful.
    I’m now wondering how to proceed making new pcb.
    An intern has just joined our team. He is better than me on electorical engineering.
    I want him to collaborate with you and Don Vukovic.
    What kind of electorical CAD do you use? EAGLE?

    As for the servo current,
    ASV-15’s stall current is 600mA [ http://www.robotsfx.com/robot/ASV-15.html ].
    *this is Japanese page.

    I also couldn’t find S03N’s stall current.
    I referred this page [ http://homepages.paradise.net.nz/bhabbott/Servo.html ].
    Hitec HS-925MG’s stall current is 1700mA and its specs are generally resembles S03N.

    If you have any more info about DMW-BLF19 to send us, that’s be great!

    I don’t have specific value, but it last total 12 hours demonstration use.

    in reply to: Worm gear #428

    Hiroshi Yamaura
    Keymaster

    Hello Joseph,
    You’re right. Using worm gear is a better way for making practical prosthetic hand.
    Many other makers are using linear actuator for that reason.

    However, that kind of actuator is relatively expensive.
    We want to reduce the cost as much as possible.

    Anyway, this is my current opinion.
    We may use firgelli’s micro linear actuator [ http://www.firgelli.com/products.php ] in future.

    As for printing, we need support material.
    We hope to make it support-less like E-NABLE’s hand.
    This is also our future task.

    Thanks.

    in reply to: Reports from Pikes Peak Makerspace #422

    Hiroshi Yamaura
    Keymaster

    Tima,
    That sounds great!
    Mounting pcb on back cover is a really good idea.

    I want to ask you some questions.
    -Is it possible for you to combine that new pcb board and DC-DC converter?
    -Can I change the positions of buttons because current positions are confusing to use.
    -Do you want to decide LEDs and RESET button positions by yourself?
    Is it better for you if we provide new 3D data that contains LEDs and RESET button?

    in reply to: Sensor board #419

    Hiroshi Yamaura
    Keymaster

    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.

    in reply to: TPR-105 IR Sensor in the US #418

    Hiroshi Yamaura
    Keymaster

    Oh, did QRD1114 work? It’s a good information.
    I will add that information to [ http://exiii-hackberry.com/forums/topic/sensor-board/ ]
    Thank you tima.

    in reply to: TPR-105 IR Sensor in the US #412

    Hiroshi Yamaura
    Keymaster

    As for sensor, please check this post.
    http://exiii-hackberry.com/forums/topic/sensor-board/

    You can probably use following sensers instead of TPR-105 but I haven’t tested yet.
    -QRD1114
    -CNY70
    -SG105

    in reply to: Raspberry Pi #411

    Hiroshi Yamaura
    Keymaster

    Hi Simon,

    What modifications would I need to perform to the files to make this work correctly?

    This hand is driven by 3 servo motors.
    Therefore, you have to make 3 PWM signals from Raspberry Pi.

    Moreover, this hand uses distance sensor to measure muscle contraction level.
    If you want to use this muscle sensor, Raspberry Pi have to read 1 analog input.

    Containing Raspberry Pi is maybe impossible for this hand.
    You may have to pull signal lines out and connect them to Raspberry Pi.

    in reply to: buy Hardware #410

    Hiroshi Yamaura
    Keymaster
    in reply to: Garber data of HandBoard #405

    Hiroshi Yamaura
    Keymaster

    Oh, you did it! Thank you!

    in reply to: Hand motion control using shoes sensor. #400

    Hiroshi Yamaura
    Keymaster

    Then, this is a reply from Cameron

    I have an MPU6050 6 axis gyroscope and accelerometer – it’s the same technology that you’re describing.

    I could put something together to transmit the data? (by hooking up the Arduino micro, MPU6050 and Blue Tooth module, and 3D printing a little case, it wouldn’t be difficult).

    HACKberry’s basic concept is to create “affordable” hand.
    Therefore, I think 6 axis gyroscope is not absolutely necessary.
    However, this method has a great future as a substitution for myoelectricity. I want to try it.

    >Cameron
    Can you make a circuit diagram and sample code?
    If you could do so, I will copy and test them.
    If you don’t have a time, even the information of other project that contains wireless microcomputer communication will be appreciated.

    in reply to: STL Files #390

    Hiroshi Yamaura
    Keymaster

    This is maybe 3d connexion’s spacenavigator.
    I bought and tried before but don’t use it now.
    It certainly comes in handy but I prefer a numeric keyboard for left hand.

    http://www.3dconnexion.com/products/spacemouse/spacenavigator.html

    in reply to: STL Files #386

    Hiroshi Yamaura
    Keymaster

    Sorry, I can’t understand what you are getting at.
    The picture you posted on #383 is a little confusing.
    Is it elbow? Is it wrist and finger?

    Do you want to make the hand mechanically driven by wrist or elbow movement like E-NABLE?
    If you want to do so, I think modifying E-NABLE hand is more easy than modifying HACKberry.
    http://enablingthefuture.org/upper-limb-prosthetics/raptor-reloaded/

    in reply to: Reports from Pikes Peak Makerspace #381

    Hiroshi Yamaura
    Keymaster

    These pictures are really wonderful! Thank you for posting.
    I want to hear his story. I hope this talk will be uploaded to Youtube.

    Speaking of TEDx,Bram from Wevolver also made a talk at TEDxMadrid with HACKberry.
    I also looking forward to see the video.

    in reply to: Socket Fit #377

    Hiroshi Yamaura
    Keymaster

    Thanks Brian.

    Is the output directly proportional to the compression of the sensor

    The compression of the sensor is proportional to finger joint’s angular velocity.

    can you change the grip strength of the hand for users who have weak muscles?

    We can’t change the grip strength because the servo motor doesn’t have such function. It only can change the angle. If we want to change the grip strength, we have to use more expensive servo motor or DC motor with current control system.

    On the other hand, we tested this sensor system with elderly people and children(non-amputee). They could successfully control the hand. Therefore, I think this system can be applied to users who have weak muscles.

    in reply to: Reports from Pikes Peak Makerspace #372

    Hiroshi Yamaura
    Keymaster

    Tima,

    Thank you very much for sharing the video.
    We are so excited since this is the first time that the HACKberry created from our community reached an actual user.
    I feel our approaches are spreading the world.

    in reply to: STL Files #370

    Hiroshi Yamaura
    Keymaster

    Hi,
    If you want to post a picture, please check this post.
    Sorry for the inconvenience.
    http://exiii-hackberry.com/forums/topic/how-do-you-post-a-picture-and-a-video/#post-360

    in reply to: STL Files #367

    Hiroshi Yamaura
    Keymaster

    Yes, the spring is used only for index finger.

    in reply to: how to make pcb #359

    Hiroshi Yamaura
    Keymaster

    Hi, thank you for asking.
    I just answered this question at FAQ topic.
    Please check this post.
    http://exiii-hackberry.com/forums/topic/how-do-i-get-pcb-boards/#post-358

    As for .ipt files problem, I will investigate the cause. Please wait for a while.

    in reply to: Sensor board #354

    Hiroshi Yamaura
    Keymaster

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

    >Satima
    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.
    http://global.rakuten.com/en/store/tuzukiya/item/i12-0012/

    in reply to: STL Files #351

    Hiroshi Yamaura
    Keymaster

    Mike,
    Why don’t you try netfab basic[http://www.netfabb.com/basic.php]?
    It can easily flip STL data.

    1. Click Parts-Add and select STL file you wanna flip.

    2. Click Parts-Mirror-Mirror

    3. Click Parts-Export parts-as STL

    in reply to: 3 Joint finger vs 2 Joint finger #350

    Hiroshi Yamaura
    Keymaster

    HACKberry’s mechanism is designed only for 2 joints. Maybe it is difficult to apply same structure for 3 joints.
    As you mentioned, our previous model “handiii” has 3 joints.
    Although handiii’s data is not disclosed, this article’s picture will help you to learn its mechanism.
    [https://media.dmm-make.com/item/1139/]

    in reply to: Left hand #349

    Hiroshi Yamaura
    Keymaster

    Hi Javier, thank you for joining our community!
    Unfortunately, left hand design is not available for now.
    As for 3D data, You can easily flip the STL files using netfab basic [http://www.netfabb.com/basic.php].
    However, the circuit board of the hand can’t be flipped because the pin assign of Arduino Micro is not symmetry.
    I will make that circuit board for left hand when the right hand is improved to a certain quality.

    in reply to: Socket Fit #343

    Hiroshi Yamaura
    Keymaster

    3D printing silicon liner and a flexible sheath and combining them is a very good idea.
    I’m looking forward to hear your progress.
    Thanks!

    in reply to: Sensor board #342

    Hiroshi Yamaura
    Keymaster

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

    >ALL
    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.

    in reply to: Assembling #339

    Hiroshi Yamaura
    Keymaster

    Hi Pined,
    Sorry for late reply.
    As for improving the print quality,
    Please check this post. http://exiii-hackberry.com/forums/topic/assembling/#post-313

    I think that the direction of the part is also important.
    For example, direction A will get better quality than diretion B because it is not affected by the layer pitch.

    in reply to: Socket Fit #335

    Hiroshi Yamaura
    Keymaster

    I’m still wondering whether we should use velcro type socket or other type socket.
    I’d like to share you how to make socket from 3D scanned data.

    1.Download Meshmixer
    We use Autodesk Meshmixer. Please download from the following link.
    [http://www.123dapp.com/meshmixer]

    2.Scan a stamp
    Get the 3D data of the stamp using 3D scanner.
    I recommend Sense [http://www.amazon.com/dp/B00HLJFMMO/].
    It is much cheaper than other scanners but has sufficient ability.
    In this document, I use Ryan’s 3D data.
    We can download the data from Wevolver[https://www.wevolver.com/cameron.norris/ryan-cashman-partial-hand-prosthesis/medical/files/].

    3.Open the 3D scan data from Meshmixer.

    4.Reduce triangles
    The data contains too much triangles.
    -“Select”
    -double click the surface
    -“Edit”
    -“Reduce”
    -change “Pecentage” to “Triangle Budget”
    -“Tri Count” 100000
    -“Accept”

    5.Correct the scale
    The data is too small.
    It is maybe due to unit conversion.

    -“Edit”
    -“Transform”
    -“Scale X”(,Y or Z) 25.4
    -“Accept”

    6.Set the clearance
    Make the clearance between Ryan’s skin and innur surface of the socket.

    -“Select”
    -double click the surface
    -“Edit”
    -“Extrude”
    -“Direction”
    -change “Constant” to “Nomal”
    -“Offset” 2mm
    -“Accept”

    7.Convert to shell

    -“Shaders”
    -drag and drop the transparent appearance

    -“Select”
    -double click the outer surface
    -“Edit”
    -“Separate”

    -select the innur surface
    -delete

    -“select”
    -double click the outer surface
    -“Edit”
    -“Extrude”
    -“Direction” “Normal”
    -“Offset” 3mm
    -“Accept”

    8.Cut the bottom
    -“Edit”
    -“Plane Cut”
    -move the plane by dragging an arrow
    -“Accept”

    9.Export the file
    -“File”
    -“Export”

    That’s all.
    You can use this data to convine the HACKberry.

    The data can be downloaded from the following link.
    [https://drive.google.com/open?id=0B_O4N8Ng5KyZaWdsTnZOZ2VXbDQ]

    Please give it a try.
    Thanks.

    in reply to: Assembling #327

    Hiroshi Yamaura
    Keymaster

    Satima, thank you for the information. I didn’t notice that.
    Unfortunately, I haven’t found any substitutions. I will search them.

    in reply to: HACKberry creation result #320

    Hiroshi Yamaura
    Keymaster

    Tanaka-san

    Thank you very much for sharing your research!
    These information are very helpful.
    I will upgrade the 3D data to reinforce (A),(B) and (C) spots.

    By the way, we are sorry for inconvenience about using images on this forum.
    I’m not sure it’s due to WordPress setting or not, the images are sometimes not displayed properly.
    I usually use imgur to avoid this problem.
    http://imgur.com/

    *I edited Tanaka-san’s post without asking to display the correct images for other visitors. Thank you for your understanding.

    in reply to: Assembling #313

    Hiroshi Yamaura
    Keymaster

    I just shoot the video of removing support material but I feel it is maybe not the one you need..

    BTW, if you need smooth surface, please try
    -filling the interlaminar steps with a putty before polishing.
    -using SLS print service(such as Shapeways).
    -using car wrapping film(such as this[http://www.amazon.com/dp/B0059XCVVO/] ).

    This is simply printed hand using FDM.

    This is the combination of SLS printing and car wrapping film.

    in reply to: Sensor board #312

    Hiroshi Yamaura
    Keymaster

    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

    in reply to: Garber data of SensorBoard #311

    Hiroshi Yamaura
    Keymaster

    I used LPKF ProtoMat E33 for Hand Board and Carving-CNC(OMIOCNC) CNC3040 for Sensor Board and Battery Board.
    LPKF ProtoMat E33: http://www.lpkf.com/products/rapid-pcb-prototyping/circuit-board-plotter/protomat-e33.htm
    CNC3040: http://www.china-cncrouter.com/products/CNC-3040.htm

    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

    in reply to: Garber data of SensorBoard #307

    Hiroshi Yamaura
    Keymaster

    Hi Don, thank you for your information.
    As for missing files, it is due to the problem of library reference setting.
    I just updated the file. The problem is maybe solved.

    This pcb is used for the muscle sensor.
    The sensor is set here.

    Please use this sensor like this.

    I will study more on the problem of drill hole location.
    Please wait for a while.

    in reply to: Iv'e been printing the exiii hackberry. #304

    Hiroshi Yamaura
    Keymaster

    This is the result of Meshmixer support.

    Theses supports are very easy to remove.
    I can remove most of them by my hand. It takes 8 minutes to complete.
    Conventional UP!plus2’s support requires 20 minutes to remove and I have to use longnose pliers.

    On the other hand, the surface quality of overhang is inferior as compared with conventional one.
    I have to study more on this point.

    Black one uses Meshmixer support.

    White one uses UP!plus2’s support

    I uploaded this data here.
    https://drive.google.com/open?id=0B_O4N8Ng5KyZVHRRLVVwNjBET2c
    If you have an interest, please try to print it.

    in reply to: Iv'e been printing the exiii hackberry. #302

    Hiroshi Yamaura
    Keymaster

    Hi Amadon,
    Thank you for your report. Your part’s quality looks very nice.
    Since I never tried PLA, please share us the problems about using PLA if you confront them.

    Do any of you have any recommendations/tips to save me some hassle as I go?

    You know, Shaping PLA is hard job. For smooth movement, you can extend the clearance by editing the CAD data in advance (such as the clearance between HBejectorLever02 and HBarmMountBaseCover03).

    I wanted to avoid that because it makes the finish rough, but I don’t see any other way of doing it.

    I prefer this angle for better finish of surface.

    However removing these support materials are tough..

    Unprintability of this part is often pointed out.
    I wanted to change its shape and solve this problem but haven’t made it.

    I’m trying the Meshmixer for now, which can generate original support materials and reduce the amount of them.

    I’ll share the result here.

    in reply to: Socket Fit #299

    Hiroshi Yamaura
    Keymaster

    Hi Andrew,
    I recommend you to take part in the reddit prosthesis project.
    http://3dprint.com/82816/weightlifting-prosthesis-3d/

    The purpose of this project is to provide the reddit user Ryan with the bionic hand like i-Limb digit by refining the HACKberry. I’m not sure but Ryan’s situation seems to be very similar to your friend.
    The project organizer Cameron is our great collaborator.
    I will also support this project as much as possible.

    Why don’t you post the photo of your friend’s right hand to the project’s community?
    https://www.wevolver.com/cameron.norris/reddit-prosthesis-project/concept/description/
    After that, you can discuss how to collaborate with them.

    in reply to: What 3D applications are everyone using? #295

    Hiroshi Yamaura
    Keymaster

    I’m mainly using Inventor and Fusion 360 for mechanical design of HACKberry.
    Tetsuya, who is a product designer of exiii is using CATIA and Fusion 360 for appearance design (such as curved surface shape and others).

    If you need free and highly-functional CAD, I recommend Fusion 360.
    http://www.autodesk.com/products/fusion-360/try-buy#
    Autodesk provides free licenses for hobbyists and startups.

    Onshape is also free and has very interesting features but I haven’t sufficiently tested yet.
    https://www.onshape.com/

    Please use .stp or .x_t files to edit 3D data.
    https://github.com/exiii/HACKberry/tree/master/HACKberry-hardware/3D

    By the way, this is only my opinion.
    I also want to hear other people’s opinion.

    in reply to: Assembling #294

    Hiroshi Yamaura
    Keymaster

    Hi Scott,
    I’m glad that you joined our community.
    As you already mentioned, please use this forum as blog or other purposes for now.
    If this forum overflows, I will organize the information and make other sections.

    Moreover, thank you for your several questions.
    I will answer them in each topic.
    Hiroshi

    in reply to: Socket Fit #288

    Hiroshi Yamaura
    Keymaster

    Hi Brian,
    Sorry for not contacting you.

    Previously I emailed you, we use velcro band and elbow supporter.
    http://exiii-hackberry.com/forums/topic/assembling/#post-228
    Although we occasionally use 3D scanner and refer the stump 3d data in CAD, we are searching the method that doesn’t require the measurement. Using velcro and elbow supporter is a example of the method.

    On the other hand, we are examining the possibility to combine HACKberry and traditional socket.
    If we measure the shape of attachment and add the shape to HACKberry, traditional prosthesis user will be able to use HACKberry as another attachment.


    As for sensor, we don’t use electrode. We are using photo-reflector as a kind of pressure sensor and it is fixed by velcro band.
    Please check this post. This sensor is very easy to use. It doesn’t require the training.
    http://exiii-hackberry.com/forums/topic/how-do-you-control-hackberry/

    in reply to: Sensor board #284

    Hiroshi Yamaura
    Keymaster

    I found the google slide provided by Japanese researcher Yuta Sugiura.
    https://docs.google.com/presentation/d/1QoSrpNYwExdqLHK4rsqcXJ8tYKSEqtuSIxjD0a1uWV0/present?slide=id.gf3509e42_0100

    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.
    https://github.com/exiii/HACKberry/tree/master/HACKberry-hardware/electronics/SensorBoard_v1

    in reply to: Importing 3D files to Rhino #283

    Hiroshi Yamaura
    Keymaster

    I updated iges, step and parasolid data in the github.
    https://github.com/exiii/HACKberry/tree/master/HACKberry-hardware/3D

    The problem about the surface error at the wrist part mentioned #post-125 is solved.
    Please use step data for Fusion 360.
    http://exiii-hackberry.com/forums/topic/importing-3d-files-to-rhino/#post-125

    in reply to: Importing 3D files to Fusion 360 #282

    Hiroshi Yamaura
    Keymaster

    Hi all,
    Sorry for the late response.
    I updated iges, step and parasolid data in the github.
    https://github.com/exiii/HACKberry/tree/master/HACKberry-hardware/3D

    I confirmed that the garble problem for Fusion 360 is solved by using latest step file.

    in reply to: Modifying hardware files with Kicad #279

    Hiroshi Yamaura
    Keymaster

    Greg, sorry for the inconvenience.
    I’m not so familiar with kicad, but I think these libraries are not necessary.
    The parts I made were saved in “HandBoard_v1-cache.lib” which is in HandBoard_v1 folder.
    Please add that library or check the latest file in github.
    Thanks,

    in reply to: Assembling #276

    Hiroshi Yamaura
    Keymaster

    ES08-MD was just arrived.
    This is compatible with ASV-15MG.
    Not only dimensions, but servo horns’s shape and operating range are also same.
    Please use it as the substitution of ASV-15MG.

    By the way,ES08-MD’s torque is 2.4 kg・cm@6V. This is stronger than ASV-15MG’s(1.6 kg・cm@6V).
    I may replace ASV-15MG with ES08-MD sometime soon.

    in reply to: Assembling #275

    Hiroshi Yamaura
    Keymaster

    I just found ES08-MD.
    http://www.amazon.com/dp/B00EDGMRDU
    I think it probably has the same dimensions with ASV-15MG’s.
    I ordered this servo. I will confirm it and update the information soon.

    in reply to: Assembling #273

    Hiroshi Yamaura
    Keymaster

    >Tima

    Thanks! I compared its data with actual dimensions of ASV-15MG.
    I think 9306MG is much better than MG90.
    One thing I am a little worried about is the dimension A.
    9306MG is 1.35[mm] taller than ASV-15MG.
    However, this dimension is easily adjustable using washer or something.

    in reply to: Assembling #272

    Hiroshi Yamaura
    Keymaster

    >Himanshu
    Sorry for very late reply…

    does anyone have particular recommendations on how you want it to be stronger and lighter?
    Also, can’t we replace the servo motor with a smaller brushless dc to allow more fluid movements?

    Strength:If you use SLS printer(nylon) instead of FDM printer(abs), the hand will be stronger.
    Weight:Simply remove the battery. Since DC plug is exposed from palm, you can easily supply power from outside. Then, the weight user has to lift will be lighter.
    These are just examples.

    can’t we replace the servo motor with a smaller brushless dc to allow more fluid movements?

    Sorry, I’m not familiar with brushless dc. Is it have enough torque? If we need additional gear unit, I think the cost and volume will be impractical.

    also why not have a faster micro-controller?

    If we need a faster one, I will think about using them.
    However, Arduino micro is enough for the requirement for now.

    how long does the current battery last?

    You are right. Although we’ve not accurately tested yet, it can last about 12 hours.

    Your plan is interesting! I’m looking forward to see your designs.

    >Cameron
    Yes, if people will build original one, they will find many things such as our ideas, efforts, and faults.
    These are very important for improving HACKberry.
    On the other hand, I also welcome unbiased comment sometimes.
    I am glad that you got apprehensive about us and our community.
    Thank you so much!

    in reply to: Assembling #269

    Hiroshi Yamaura
    Keymaster

    I am so sorry about it. It was my mistake.
    I just deleted the link to MG90 and will search another substitution.

    in reply to: Garber data of HandBoard #266

    Hiroshi Yamaura
    Keymaster

    Please select the following command from the right bar and right click in “GND” zone.

    in reply to: Garber data of HandBoard #263

    Hiroshi Yamaura
    Keymaster

    Please post your update. Any feedback will be appreciated. Thanks!

    in reply to: buy Hardware #259

    Hiroshi Yamaura
    Keymaster

    Thanks! Please get in touch anytime.
    By the way, I just updated the BOM list and added the sensor parts to the list. Please check it.

    in reply to: TPR-105 IR Sensor in the US #247

    Hiroshi Yamaura
    Keymaster

    Hi Gregory,
    I’m sorry for late reply.
    I saw Satima Anankitpaiboon’s post and really excited about your plan.
    We are rooting for the Pikes Peak MakerSpace.
    If there is any way I can help, please let me know.

    in reply to: buy Hardware #245

    Hiroshi Yamaura
    Keymaster

    >Yue
    exiii wish to sell hardware kit but have not deal with it for now.

    >Satima
    Thank you so much! That kind of kit is really helpful for spreading HACKberry.
    I’m now preparing for uploading garber data.
    Please let me know if I can be of any assistance to you.

    in reply to: Animation with Inventor Dynamic Simulation #244

    Hiroshi Yamaura
    Keymaster

    Walter,
    Thank you for making the animation!
    I really want to see that but I think there is a problem for me to open your URL.
    Could you please confirm the URL again?
    (If you kindly upload the Youtube, it is helpful for us to share your work.)

    in reply to: Sensor board #242

    Hiroshi Yamaura
    Keymaster

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

    in reply to: Assembling #228

    Hiroshi Yamaura
    Keymaster

    Hi Ashley,
    We are using a velcro band and a elbow supporter to fit the HACKberry to an user.
    These holes are used for fixing the velcro tape with screws.



    in reply to: Assembling #222

    Hiroshi Yamaura
    Keymaster

    Rodolfo, Ashley and Iago
    Thank you for your discussion. These are very precious information for this forum.

    I think the bearing is not so important.
    If you have a difficulty of get it, maybe you can simply hold Hbthumb03 by HbPalmBase03.
    I didn’t test yet. However, you can remove the bearing and fill the space using plastic.
    This composition probably has no problem.

    in reply to: Sensor board #215

    Hiroshi Yamaura
    Keymaster

    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.
    http://akizukidenshi.com/download/tpr-105f.pdf

    in reply to: Assembling #212

    Hiroshi Yamaura
    Keymaster

    I have to figure out how to edit the solid blocks in Inventor first, or build on top of them.)

    If you kindly make such recharging circuit, I will make 3D data for 18650. I’m really looking forward to our collaboration.

    By the way, for the DC-DC converter, am I correct that you’re using a 6V output for all the servos?

    This DC-DC conveter can adjust the output voltage from 1.25[V] to 35[V]. I’m now using 5[V] because too much torque of large motor may break the index finger parts. This is lower limit of rated voltage for this motor.

    what about the Micro itself? From the schematic, it looks like you’re feeding raw power from the battery, all 7.2V, into both the Micro as well as the DC-DC converter. And you’re using 3.3V (out) to the sensor.

    You are right. I do so because the rated input voltage of Arduino Micro is from 7[V] to 12 [V] (are there any problem? I’m not so familiar with electronics). There is no specific reason for the sensor voltage. However, if this sensor can work at 3.3[V], it also can be used for other 3.3 V logic microcontroller.

    in reply to: First report #208

    Hiroshi Yamaura
    Keymaster

    This is probably the world’s first working HACKberry created from our open-source community! Thank you, Cameron!

    in reply to: Assembling #207

    Hiroshi Yamaura
    Keymaster

    just create one custom board with everything on it.

    If you can do so, that is fantastic! You know, DC-DC is now taking up so much space.
    It sounds very nice. I’m looking forward to your update.

    is there any reason why you choose to use a camera battery versus say using a couple of 16850 powercells?

    I think a camera battery is safer than 16850.
    16850’s electrode is exposed. There is some possibility of short circuit when users have to change the batteries.
    Moreover, I heard that 16850 has a safety circuit for discharge but does’t have it for charge.

    However, you can easily change the power source because the power is supplied from 2.1mm power plug.
    If you want to use 16850, all you have to do is to use 2.1mm power plug. It is no problem.

    in reply to: Assembling #194

    Hiroshi Yamaura
    Keymaster

    I’ll see what I can do and if I can’t source the metric parts, I may just have to adjust the Inventor files and make minor adjustments for inch sizes.

    If you can do so, that will be very helpful. Thanks!

    if you can provide an EagleCAD schematic of what the connections are, that would be very helpful.

    I’m sorry. I’m using Kicad and don’t know how to export the data for eagle.
    However, you can see the schematic(pdf). Please see this file.
    https://github.com/exiii/HACKberry/blob/master/HACKberry-hardware/electronics/HandBoard_v1/HandBoard_v1.pdf

    You can also download the board outline(dxf) from here.
    https://github.com/exiii/HACKberry/blob/master/HACKberry-hardware/electronics/HandBoard_v1/HandBoard_v1_outline01.dxf

    I’ve seen videos where the hand is interacting with a mobile app that shows the electrical signals. However, I’m not seeing that app anywhere.

    Sorry to confuse you. That was previous model. HACKberry doesn’t use EMG and a mobile app. I just uploaded the video about sensor system of HACKberry. As you see, the finger is controlled by the muscle and the muscle movement is measured by IR sensor.

    in reply to: Sensor board #193

    Hiroshi Yamaura
    Keymaster

    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.

    in reply to: STL Files #189

    Hiroshi Yamaura
    Keymaster

    Hi Ali,
    Please see the link below.
    https://github.com/exiii/HACKberry/tree/master/HACKberry-hardware/3D/STL/HACKberry_STL_v1
    Select each file and download it by using “Raw” button.

    You can also download STL files from Wevolver.
    https://www.wevolver.com/hiroshi.yamaura/exiii-hackberry/3d/file

    in reply to: Assembling #184

    Hiroshi Yamaura
    Keymaster

    Hi Ashley,

    I’m starting to print some of the parts to test the feasibility of making this for a friend of mine who lost his hand.

    Great! We will help your project.

    a) For the large motor, you list the S03N from Pololu, however that motor has been discontinued. Do you have a recommendation for another?

    Sorry, I didn’t realize that the motor has been discontinued.
    The requirements of the large motor are
    (Must)
    -Operating travel is more than 140 degree.
    -Standard size(approximately 39.5 x 20.0 x 39.6 mm).
    -Circular servo horn(approximately 20mm in diameter) is included
    (Want)
    -Ball bearing
    -Metal gear
    -Not so strong(When I used 16.3kg-cm serevo, index finger and gear were broken easily. S03N is 4.0 kg-cm.)

    Although I didn’t tested yet, I think 3001HB[https://www.pololu.com/product/1058] can be used as a substitution.

    b) Would it be possible for you to put together a kit that would include all of the fasteners (screws), bearings, and springs (and whatever other pieces) and have it for sale?

    Sorry, we can’t deal with it for now. I will find substitutions which you can buy in the United States.

    c) where can we get the shield that’s listed in the BOM file?

    For now, you have to make it.
    This board is not so complex. You can make it using universal board and lead wire.
    This is our prototype(very rough..).


    Moreover, I’m preparing the data for a circuit board plotter.

    in reply to: Assembling #182

    Hiroshi Yamaura
    Keymaster

    Hi Iago, sorry for late reply.
    I usually use ABS plastic but used Nylon parts in this movie (I had a chance to use SLS printer at that time).
    I also want to answer your question that was send via e-mail.

    – How many motors did you use on the HACKberry and what type of motors did you use.

    I used 3 motors. One is S03N[https://www.pololu.com/product/693]
    and others are ASV-15MG[http://www.amazon.co.jp/dp/B00M9VMPBK].
    You can use MG90S[http://www.amazon.com/dp/B006VRWV1W] as a substitution for ASV-15MG.
    Please see the BOM[https://github.com/exiii/HACKberry/blob/master/HACKberry-hardware/HACKberry_BOM_v1.xlsx]

    – Does the fingers have independent movements?

    Thumb, index finger and middle finger can move independently.
    Ring and little finger are coupled with middle finger mechanically.

    – Can I use EMG signals to realize the movements?

    You can access Arduino Micro via USB micro connector or can access analog input pin using audio connector.
    Please see the schematic[https://github.com/exiii/HACKberry/blob/master/HACKberry-hardware/electronics/HandBoard_v1/HandBoard_v1.pdf].

    – How did you divide the motors for each finger movement?

    We are using a linkage mechanism for that purpose.

    in reply to: Sensor board #181

    Hiroshi Yamaura
    Keymaster

    Sorry for late reply.
    Please check Fig.6 in this paper from the following link.
    http://homepage2.nifty.com/d-design/publication/j043.pdf
    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.

    in reply to: Printer MINIMUM Requirements #180

    Hiroshi Yamaura
    Keymaster

    Hi Eduardo! Thank you for making nice topic.
    I used UP! plus2 for our test.
    Therefore, my test result is as below;
    –Printing materials:ABS
    -Tested printer:UP! plus2
    -Printing area:140mm x 140mm
    -Printing Height:130mm
    -Result: All parts were printed successfully.

    in reply to: First report #171

    Hiroshi Yamaura
    Keymaster

    Japanese Maker community FLAG is now assembling HACKberry. We can’t wait for the completion of their hand!

    https://www.facebook.com/groups/FLAG.Dev/permalink/496041100562752/

    in reply to: Assembling #170

    Hiroshi Yamaura
    Keymaster

    I uploaded the video of assembling HACKberry’s hand unit to YouTube.
    This is the last assembling video for now.
    If you have any requests or questions, please post here.

    in reply to: Assembling #168

    Hiroshi Yamaura
    Keymaster

    I uploaded the video of assembling HACKberry’s other fingers to YouTube.
    >MoldiTux
    Hi, sorry to have kept you waiting.

    in reply to: Sensor board #166

    Hiroshi Yamaura
    Keymaster

    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).

    in reply to: Assembling #163

    Hiroshi Yamaura
    Keymaster

    Thanks Cameron, I will add other parts in the near term.
    I also looking forward to see your print report!

    in reply to: Assembling #152

    Hiroshi Yamaura
    Keymaster

    I uploaded the video of assembling HACKberry’s battery holder to YouTube.

    in reply to: Assembling #151

    Hiroshi Yamaura
    Keymaster

    I uploaded the video of assembling HACKberry’s battery door lock to YouTube.

    in reply to: Assembling #150

    Hiroshi Yamaura
    Keymaster

    I uploaded the video of assembling HACKberry’s index finger to YouTube.

    in reply to: Importing 3D files to Fusion 360 #148

    Hiroshi Yamaura
    Keymaster

    Kobayashi-san,
    Thank you for the report!
    Mmm…I named all components in English.
    However, I found that the same problem is occurred in my environment.
    I used Geomagic Design for making iges, step files because I couldn’t made them by Inventor.
    Maybe the file names were lost in that translation from Inventor to Geomagic Design.
    I will try to fix it.

    in reply to: Importing 3D files to Rhino #145

    Hiroshi Yamaura
    Keymaster

    Sorry, we don’t have a plan to selling such kind of kit. Although we may sell the kit in the future, we can’t deal with it for now.

    in reply to: Importing 3D files to Rhino #142

    Hiroshi Yamaura
    Keymaster

    We don’t use a smartphone for HACKberry. Maybe you saw our video that we use the smartphone for EMG signal analysis. That prototype is different from HACKberry.

    in reply to: Importing 3D files to Rhino #140

    Hiroshi Yamaura
    Keymaster

    Hi MoldiTuxTuxtepec,
    I’m sorry for late response.
    I’ve just uploaded the BOM to develop branch.
    Please see HACKberry_BOM_v1.xlsx(HACKberry/HACKberry-hardware/).

    in reply to: STL Files #139

    Hiroshi Yamaura
    Keymaster

    Hi Dan,
    I just uploaded STL files to develop branch(HACKberry/HACKberry-hardware/3D/STL/HACKberry_STL_v1/).
    Please check them out.
    I also uploaded BOM. Please see the document for confirming 3D print part’s quantity.

    in reply to: Importing 3D files to Rhino #132

    Hiroshi Yamaura
    Keymaster

    Hi,Gauthier

    README.md can be read in github website. You can also read .md file by using atom which is distributed by github. I will upload .txt file soon.
    (2015-05-31 Added: README.md can be opened in notepad.exe. If you need .txt file, please rename README.md and save it.)

    I uploaded inventor files to develop blanch. Please check them.

    I’m using UP! Plus 2 printer. Its quality is very good.

    in reply to: Importing 3D files to Rhino #125

    Hiroshi Yamaura
    Keymaster

    Iizuka-san,

    Thank you for posting precious information!

    >is there any ideas to increase import qualities??
    Sorry, i don’t have good idea. Could you please try Fusion 360?
    It can be used in both Mac and Windows for free if it is personal use.
    In my test, almost all parts can be imported by Fusion 360 via parasolid and step files.

    (except for HBarmMountBaseCover02 at wrist. Maybe it is because original data has a problem. I will fix it soon.)

    I know this is not perfect solution for Rhinoceros users, but I think if users can try to import the data from Fusion 360 to Rhinoceros by themselves, this problem will be solved more faster.

    By the way, we are using
    ・Inventor Professional 2015
    ・fusion 360
    ・Geomagic Design2014
    We can upload any formats that these CAD can export.
    Please tell us if you have a request.

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