HardLabs

OpenHand v3

AleksaHeler·OpenHand·hardware/OpenHand_v3/OpenHand_v3.kicad_pcb

OpenHand v3 PCB layout, top view — open source STM32 board by AleksaHeler

About the OpenHand v3 PCB

OpenHand v3 is an open source STM32 PCB design by AleksaHeler, published on GitHub under the MIT license. It is a 4-layer board measuring 100 × 50 mm, with 181 components from 76 distinct parts.

Its main chip is the STM32F103RETx, from the STM32 family. Other key parts include the TPS565201DDCR, AMS1117-3.3, ICL7660, TL084 and DRV8833PWP. By type, the board carries 75 resistors, 44 capacitors, 23 test points, 12 connectors, 10 ICs and 6 diodes.

It belongs with the robotics & motion, power & battery and sensors designs in this gallery, and the repository also holds 2 earlier revisions of it.

From the project

Our attempt at a prosthetic hand using STM32 microcontroller with custom PCB and mechanics

For designing those we use KiCAD. Good tutorial can be found here. Although it's for a bit older version of the KiCAD it is still usefull.

For now we have two designs: DevBoard and OpenHand. First one is for proof of concept, while other one is still in development and meant to be used as initial version to build upon.

Firstly we haver here a development board, custom made for our purpose of having EMG sensors and servo motors connected. Also a couple of buttons/pots etc. for easier debugging/testing. Schematic can be found here.

OpenHand v3, from the project README
From the project README

Main components on the OpenHand v3

STM32F103RETxTPS565201DDCRAMS1117-3.3ICL7660TL084DRV8833PWP

OpenHand v3 bill of materials (BOM)

181 components, 76 distinct parts.

QtyPartRefs
1
STM32F103RETx
U1
1
TPS565201DDCR
U2
1
AMS1117-3.3
U3
1
ICL7660
U4
2
TL084
U5, U6
4
DRV8833PWP
U7, U8, U9, U10
1
AO3401A
Q1
1
16MHz
Y1
1
CONN_MOTOR_1
J1
1
CONN_MOTOR_2
J2
1
CONN_BATT
J3
1
CONN_USB_C
J5
1
CONN_MOTOR_3
J6
1
CONN_FDBK
J7
1
CONN_EMG_1
J8
1
CONN_EMG_2
J11
1
CONN_SWD
J12
1
CONN_MOTOR_1_ENCODER
J14
1
CONN_MOTOR_2_ENCODER
J15
1
CONN_MOTOR_3_ENCODER
J16
Show 56 more
QtyPartRefs
1
TRIM_POT_1
RV1
1
TRIM_POT_2
RV2
2
100k
RV3, RV4
1
BTN_RST
SW1
1
SW_Push
SW2
2
10k
TH1, TH2
1
TP_GND_3
TP1
1
TP_UC_TX
TP2
1
TP_UC_RX
TP3
1
TP_UC_PC13
TP4
1
TP_GND_4
TP5
1
TP_3V3_1
TP6
1
TP_GND_1
TP7
1
TP_GND_2
TP8
1
TP_3V3_2
TP9
1
TP_5V_1
TP10
1
TP_5V_2
TP11
1
TP_UC_SCL
TP12
1
TP_UC_SDA
TP13
1
TP_UC_PC14
TP14
1
TP_V_5V
TP17
1
TP_V_N5V
TP18
1
TP_V_3V3
TP19
1
TP_UC_PC15
TP36
1
TP_UC_PA2
TP37
1
TP_UC_PA3
TP38
1
TP_UC_PB3
TP39
1
TP_UC_PB4
TP40
1
TP_UC_PB5
TP41
2
RED
D1, D4
1
GREEN
D2
1
BZT52C4V7
5V Zener
D3
2
SS14
D5, D6
1
CYA0650-3.3UH
3.3uH
L1
9
100n
C1, C2, C3, C4, C5, C6, C13, C21 +1
3
1u
C7, C12, C16
2
10p
C8, C9
2
10u
C10, C19
10
10u
C11, C17, C18, C20, C35, C36, C41, C42 +2
1
47u
C14
1
22u
C15
4
470n
C23, C24, C25, C26
4
330n
C27, C28, C29, C30
4
2u2
C31, C32, C37, C38
4
10n
C33, C34, C39, C40
2
5k1
R1, R2
1
1.5k
R3
4
4k7
R4, R5, R7, R15
30
10k
R6, R8, R9, R11, R12, R16, R29, R32 +22
8
47k
R10, R14, R17, R19, R27, R30, R37, R38
1
54.9k
R13
4
15k
R18, R20, R28, R31
10
1k
R21, R22, R23, R24, R25, R26, R35, R36 +2
6
18k
R33, R34, R43, R44, R67, R68
6
0R2
R47, R48, R52, R69, R70, R71
3
4R7
R53, R72, R73

OpenHand v3 design files

The KiCad project lives in the AleksaHeler/OpenHand repository on GitHub; these links point at the commit this page was built from.

OpenHand v3: common questions

What microcontroller does the OpenHand v3 use?

The OpenHand v3 is built around the STM32F103RETx, from the STM32 family.

How big is the OpenHand v3 PCB?

The OpenHand v3 measures 100 × 50 mm, has 4 copper layers and is 1.6 mm thick.

How many components are on the OpenHand v3?

181 components, from 76 distinct parts. The full bill of materials is listed on this page.

Where can I download the OpenHand v3 design files?

From the AleksaHeler/OpenHand repository on GitHub, which has the KiCad layout and the schematic; the links under Design files point to each one.

Can I use the OpenHand v3 design in my own project?

Yes, under the terms of its MIT license, which AleksaHeler chose for the repository.

Can I test firmware for the OpenHand v3 without the hardware?

Yes. HardLabs builds a simulation of the board from its netlist and BOM, so you can run and debug STM32 firmware against it before you order a PCB.

More boards in OpenHand

Earlier revisions in the repo: OpenHand_v2, OpenHand_v1

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