• 1
    Gather and Assemble the Hardware Components

    Gather all hardware components listed above and follow the Ubionic Robot Hand and Exo Hand manuals to assemble the components which can be found in the file section.

    To wire the Robot and Exo hand servos and potentiometers to the Builder Bases follow the diagrams and schematics below.

    To wire the Robot hand servos:

    First Connect the the SDA,SCL, GND, 5V, and 3.3V ports to PCA9685 as shown.

    Next, connect the PCA9685 to the servos as shown.

    Now, wire the Exo-Hand potentiometers to the builder base as follows:

  • 2
    Build the Firmware

    Navigate to the Firmware Builder and select the “+ Create New” button on the upper left hand side of the screen.

    Name your firmware “Robot Hand” and hit create.

    Now, select the “+ Add Hardware” button, add a Servo device to the firmware. Name the device Pinky, and hit the “Add Hardware” button.

    Repeat these steps for five more servos, naming them: Ring, Middle, Index, Thumb Tip, and Thumb Base.

    Select the Pinky device in your firmware to expand the configuration options.

    Select the PCA9685 from the driver drop down menu and configure it as follows:

    Repeat the above steps for the remaining devices and configure them according to the table below. Exclude the pinky if you have already added it to your firmware file.

    Once you have completed configuring your devices, save your firmware file and upload it to the Client wired to your robot hand!

    Next, we will build the firmware for your ExoHand.

    Navigate to the Firmware Builder and select the “+ Create New” button on the upper left hand side of the screen.

    Name your firmware “Exo Hand” and hit create.

     Now, select the “+ Add Hardware” button, add a Potentiometer device to the firmware. Name the device Pinky, and hit the “Add Hardware” button.

    Repeat these steps for five more potentiometers, naming them: Ring, Middle, Index, Thumb Tip, and Thumb Base.

    Select the Pinky device in your firmware to expand the configuration options.

    Select the PCA9865 from the driver drop down menu and configure it as follows:

    Repeat the above steps for the remaining devices and configure them according to the table below.

    Once you have completed configuring your devices, save your firmware file and upload it to the Client wired to your Exo hand!

  • 3
    Obtain Potentiometer Range

    After the firmware upload for the Exo Hand is complete, navigate to the clients page on your server.

    Select the Debug action from the Actions dropdown menu.

    Once here you will read the potentiometer readings for each finger in their retracted and extended positions.

    Record the analog values for each finger in both positions. We will use these values in the next step while building the application.