Zero Palm V1
Zero Palm V1 is an open source PCB design by molanocortes: a 2-layer, 51.7 × 23.9 mm board with 9 components (5 distinct parts). It is built around the TCA9548APWR. Filed under robotics & motion and wearables.
Open-source hand exoskeleton that reads all twelve finger joints and drives them through tendons. Motion capture, teleoperation and haptics research. Everything to build one: CAD, KiCad PCBs, Teensy firmware, live 3D twin, BOM, embedded EMG channels.
This folder contains the two custom PCB designs used by TAKTO ONE.
- encoderboard/ is the AS5600 magnetic encoder board. - palmcarrier/ is the palm sensor carrier and TCA9548A multiplexer board.
Each board includes its KiCad source and the matching manufacturing outputs. The checked-in sources match the working project copies used for this release.
The current embedded motor architecture uses a separate 74HC241 half-duplex interface on Teensy Serial1, with direction control on pin 7. That interface is not integrated into the published palm-carrier Gerbers. Do not infer motor-bus wiring…
Built around
Parts list
9 components, 5 distinct parts — part numbers from the project's BOM.
| Qty | Part | Footprint | Refs |
|---|---|---|---|
| 2 | TCA9548APWR | TSSOP-24_4.4x7.8mm_P0.65mm | U1, U2 |
| 1 | 10UF 10uF | C_0805_2012Metric | C3 |
| 2 | 100NF 100nF | C_0805_2012Metric | C4, C5 |
| 2 | 4.7K 4.7k | R_0805_2012Metric | R3, R4 |
| 2 | 10K 10k | R_0805_2012Metric | R5, R6 |
More boards in takto-one
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