HardLabs

Ankl prosthetic ankle

dhir08·ankl-prosthetic-ankle·electrical/kicad/ANKL-electrical_wiring.kicad_sch

This repository ships a schematic but no board layout.

About the Ankl prosthetic ankle PCB

Ankl prosthetic ankle is an open source ESP32 PCB design by dhir08, published on GitHub under the MIT license. It is a board, with 16 components from 10 distinct parts.

Its main chip is the ESP32-C3-WROOM-02, from the ESP32 family. Other key parts include the L298N. By type, the board carries 6 connectors, 4 ICs, 3 modules and 3 resistors.

From the project

3-DOF pediatric prosthetic ankle: SolidWorks design, custom PCB, 1.6x weight reduction across 5 3D-printed iterations

A three-degree-of-freedom prosthetic ankle designed to emulate natural gait motion for a pediatric patient, developed across five 3D-printed design iterations with linear actuators, custom joints, and a purpose-built PCB.

Stack: SolidWorks (parts, assemblies, drawings) · FEA · 3D printing (PLA) · linear actuators · custom PCB · electrical schematics · kinematic modeling Context: Biomedical Engineering Project, Texas A&M University — January 2026 – present Role: Mechanical design, electrical schematic design, PCB layout, iteration testing

Main components on the Ankl prosthetic ankle

ESP32-C3-WROOM-02L298N

Ankl prosthetic ankle bill of materials (BOM)

16 components, 10 distinct parts.

QtyPartRefs
1
ESP32-C3-WROOM-02
U2
3
L298N
U3, U4, U5
1
Conn_01x02 - Acctuator
M1
2
Conn_01x02
M2, M3
1
SC0682
J1
1
Conn_01x03 -- Feedback
J2
2
Conn_01x03
J3, J4
1
12V+
J5
1
USB_C_Receptacle_USB2.0_16P
J6
3
R
R1, R2, R3

Ankl prosthetic ankle design files

The KiCad project lives in the dhir08/ankl-prosthetic-ankle repository on GitHub; these links point at the commit this page was built from.

Ankl prosthetic ankle: common questions

What microcontroller does the Ankl prosthetic ankle use?

The Ankl prosthetic ankle is built around the ESP32-C3-WROOM-02, from the ESP32 family.

How many components are on the Ankl prosthetic ankle?

16 components, from 10 distinct parts. The full bill of materials is listed on this page.

Where can I download the Ankl prosthetic ankle design files?

From the dhir08/ankl-prosthetic-ankle repository on GitHub, which has the schematic; the links under Design files point to each one.

Can I use the Ankl prosthetic ankle design in my own project?

Yes, under the terms of its MIT license, which dhir08 chose for the repository.

Can I test firmware for the Ankl prosthetic ankle without the hardware?

Yes. HardLabs builds a simulation of the board from its netlist and BOM, so you can run and debug ESP32 firmware against it before you order a PCB.

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