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DexUMI Hardware Assembly Tutorial
Step-by-step guide for building your DexUMI exoskeleton
Exoskeleton Model Preview
Explore the CAD views of both XHand and Inspire Hand
DexUMI
Exoskeleton Model Preview
Explore 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.
- Download Formats: STL, STEP, SolidWorks, and more
- Printer: Bambu X1C
- Material: PLA-CF
- Print Settings: 50% sparse infill density, 50% infill/wall overlap, 10 wall loops
Feel free to tweak the settings based on your printer and material availability!
PCB Sourcing
Information for sourcing and fabricating DexUMI circuit boards
PCB Sourcing
Information for sourcing and fabricating DexUMI circuit boards
Step-by-step Tutorial of Ordering PCBA
To get started, you’ll first need to order the DexUMI circuit board. In this tutorial, we use JLCPCB as the PCB manufacturer.
On the JLCPCB homepage, click the
Order Now button and follow the step-by-step guide in the image tutorial below.
First, upload the Gerber file we provided (click the download button above to get it).
Second, follow the image tutorial below to select the correct manufacturer parameters.
On the new page, click the Bill of Materials column, then upload the BOM file and Pick and Place file we provided.
After processing, you’ll be presented with a parts confirmation list. If everything is in stock, simply click the NEXT button. If not, you’ll need to manually select similar parts using the suggestions provided by the ordering system.
The system may display a message like Project has unselected parts. Don’t worry — this happens because we include some NC (Not Connected) parts, which are not meant to be assembled. Simply click the Do not place button to proceed.
🎉 Hurray! The last step! You can now preview the 3D model of your circuit board. If all parts are rendered correctly and look similar to the images below, go ahead and click the NEXT button to place the order!
Structural Bill of Materials (BOM)
All structural parts needed to build Inspire Hand and XHand DexUMI
Structural Bill of Materials (BOM)
All structural parts needed to build Inspire Hand and XHand DexUMI
This is a compact summary of all hardware components required. Tables are grouped by device and category. Click the links to purchase directly.
Inspire Hand DexUMI
| 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: