Joint sensor
About the Joint sensor PCB
Joint sensor is an open source PCB design by corneliusgruss, published on GitHub under the MIT license. It is a 2-layer board measuring 30 × 16 mm, with 5 components from 5 distinct parts.
Other key parts include the USBLC6-2SC6. By type, the board carries 2 capacitors, 1 IC, 1 connector and 1 resistor.
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.
Micro-PCB that mounts on each finger flexure to capture joint angle and axial compliance from a single diametric magnet.
Three int16 readings per sensor (Bx, By, Bz). The host derives:
- Angle from atan2(By, Bx) — continuous through wrap, no discontinuity. - Force from Bz magnitude — the axial-slit PIP flexure deflects under load, changing the magnet's standoff and shifting Bz. Calibrated against a precision scale: +1.29 counts/g, R² = 0.64 on the compliant 3F PIP joint (range ~300–1300 g).
Main components on the Joint sensor
Joint sensor bill of materials (BOM)
5 components, 5 distinct parts — part numbers from the project's BOM.
| Qty | Part | Footprint | Refs |
|---|---|---|---|
| 1 | USBLC6-2SC6 MLX90393ELW-ABA-011-SP | QFN50P300X300X100-17N | U1 |
| 1 | USB_C_16P Conn_01x04_Socket | JST_SH_SM04B-SRSS-TB_1x04-1MP_P1.00mm_Horizontal | J1 |
| 1 | 100NF 100n | C_0402_1005Metric | C1 |
| 1 | C15525 100n | C_0402_1005Metric | C2 |
| 1 | 10k | R_0402_1005Metric | R1 |
Joint sensor 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.
Joint sensor: common questions
How big is the Joint sensor PCB?
The Joint sensor measures 30 × 16 mm, has 2 copper layers and is 1.2 mm thick.
How many components are on the Joint sensor?
5 components, from 5 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 Joint sensor 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 Joint sensor design in my own project?
Yes, under the terms of its MIT license, which corneliusgruss chose for the repository.
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