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Glove daq

corneliusgruss·skill-capture-glove·hardware/daq_pcb/glove_daq.kicad_pcb

Glove daq PCB layout, top view — open source STM32 board by corneliusgruss
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About the Glove daq PCB

Glove daq is an open source STM32 PCB design by corneliusgruss, published on GitHub under the MIT license. It is a 2-layer board measuring 46 × 56 mm, with 63 components from 32 distinct parts.

Its main chip is the STM32G431CBT6, from the STM32 family. Other key parts include the USBLC6-2SC6, AP2112K-3.3, TCA9548APWR and ICM-42688-P. By type, the board carries 26 capacitors, 14 resistors, 12 connectors, 5 ICs, 3 switches and 2 diodes.

It belongs with the sensors and robotics & motion designs in this gallery.

From the project

Solo four-month reimplementation of Sunday Robotics' Skill Capture Glove. End-to-end: PCB, firmware, capture pipeline, HLoc-based pose tracking, and an ACT policy on 182 manipulation demos.

Sensor aggregation and timing backbone for the glove. Streams synchronized proprioceptive data over USB-CDC to the host.

Upload mfr/glovedaq.zip (gerbers + drill) and mfr/glovedaq-all-pos.csv (positions) plus JLCPCBBOM.csv` to JLCPCB's PCBA flow. SWD header (J2, 1×4 2.54 mm THT) is hand-soldered.

A separate type-0x01 packet streams raw IMU at ~680 Hz.

- Crystal-less USB. STM32G4's Clock Recovery System trims HSI48 against USB SOF — eliminates the external crystal, removes a failure mode, frees board area. Init order matters: enable HSI48 → enable CRS → select HSI48 as USB clock → init USB…

Main components on the Glove daq

USBLC6-2SC6AP2112K-3.3STM32G431CBT6TCA9548APWRICM-42688-P

Glove daq bill of materials (BOM)

63 components, 32 distinct parts — part numbers from the project's BOM.

QtyPartRefs
1
USBLC6-2SC6
U1
1
AP2112K-3.3
U2
1
STM32G431CBT6
STM32G431CBTx
U3
1
TCA9548APWR
U4
1
ICM-42688-P
ICM-42688-PC
U7
1
USB_C_16P
USB_C_Receptacle_USB2.0_16P
J1
1
C2337
SWD
J2
1
ENC0_IDX_MCP
J3
1
ENC0_IDX_PIP
J4
1
ENC0_3F_MCP
J5
1
CAM0_TRG
J6
1
ENC0_3F_PIP
J7
1
C131337
TOF_TOP
J8
1
C131337
TOF_BOT
J9
1
CAM1_TRG
J10
1
FSR1
J11
1
FSR2
J12
2
C318884
SW_Push
SW1, SW3
1
BOOT0
SW_Push
SW2
1
C2297
LED Green
D1
Show 12 more
QtyPartRefs
1
C2286
LED Red
D2
1
C281128
FerriteBead
FB1
14
100NF
100n
C1, C5, C6, C7, C8, C11, C12, C13 +6
2
C15525
10u
C2, C4
3
C52923
1u
C3, C10, C16
1
C23733
4.7u
C9
6
100n
C23, C24, C25, C26, C27, C28
2
5k1
R1, R2
7
10k
R3, R4, R5, R8, R9, R11, R17
2
4.7k
R6, R7
1
33
R10
2
330
R15, R16

Glove daq design files

The KiCad project lives in the corneliusgruss/skill-capture-glove repository on GitHub; these links point at the commit this page was built from.

Glove daq: common questions

What microcontroller does the Glove daq use?

The Glove daq is built around the STM32G431CBT6, from the STM32 family.

How big is the Glove daq PCB?

The Glove daq measures 46 × 56 mm, has 2 copper layers and is 1.6 mm thick.

How many components are on the Glove daq?

63 components, from 32 distinct parts, with part numbers taken from the project's own BOM. The full bill of materials is listed on this page.

Where can I download the Glove daq design files?

From the corneliusgruss/skill-capture-glove repository on GitHub, which has the KiCad layout, the schematic and the BOM; the links under Design files point to each one.

Can I use the Glove daq design in my own project?

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

Can I test firmware for the Glove daq 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.

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