WUDI Hardware ← Project page

Build WUDI Hardware

  1. Order assembled boards from JLCPCB

    PCB package · ZIP ↓ Go to JLCPCB ↗

    Based on the open-source DexUMI electronics design [1], our 75 × 75 mm mainboard keeps the same STM32F042K6T6 and dual-ADS1256 architecture, exposes all 16 encoder channels, and removes unused circuitry.

    1. 1Upload GerberChoose Standard PCB/PCBA and upload Gerber.zip.
      JLCPCB Standard PCB/PCBA page with the Add gerber file control highlighted.
    2. 2Enable assemblyTurn on PCB Assembly; select Standard and Both Sides.
      JLCPCB assembly settings with Standard PCBA and Both Sides highlighted.
    3. 3Upload BOM + CPLAdd BOM.csv, then add CPL.csv for placement.
      JLCPCB page showing BOM.csv uploaded and the Add CPL File control.
    4. 4Check placementInspect both sides, rotations, pin 1, connectors, and unplaced parts.
      JLCPCB component placement preview for the WUDI Encoder16 board.

  2. Build the hardware

    Hardware + electronicsMechanism, sensing, camera, mainboard, power, and programming tools View BOM
    PartQtyUse / note
    Mechanical hardware
    PLA Basic filament ↗ 1 spoolWUDI exoskeleton printed parts
    PLA-CF filament ↗ 1 spoolStructural printed parts
    M3 assorted screw and nut kit ↗ 1 boxMultiple lengths for finger pivots and assembly
    M3 × 10 mm stainless-steel shoulder screw, 4 mm shoulder ↗ 20Finger pivots
    M3 stainless-steel lock nuts ↗ 1 packSecure the finger pivots
    M3 × 10 mm Chicago screws ↗ 1 pack (24 sets)Binding posts for linkage assembly
    M3 external E-clips ↗ 1 pack (200)Retain 3 mm shafts and pins
    M3 × 6 mm steel shim washer set ↗ 1 set (48)0.1 / 0.2 / 0.3 / 0.5 mm linkage spacing
    3 × 15 mm dowel pins ↗ 1 pack (100)Linkage pivot pins
    3 × 18 mm dowel pins ↗ 1 pack (100)Linkage pivot pins
    3 × 20 mm dowel pins ↗ 1 pack (100)Linkage pivot pins
    3 × 35 mm dowel pins ↗ 1 pack (100)Linkage pivot pins
    3 × 40 mm dowel pins ↗ 1 pack (50)Long linkage pivot pins
    Galvanized-steel connector plates, 2.36 × 0.63 in ↗ 1 pack (20)Flat metal joining plates
    3M TB641 gripping material ↗ 1.5 ftGrip surface
    Electronics
    WUDI Encoder16 mainboard ↑ 1Order the assembled board in Step 01
    RDC506018A encoder ↗ 16Joint sensing
    XH 2.54 mm 3-pin wire, 50 cm ↗ 16Encoder leads
    JST XH2.54 3-pin male/female cable sets ↗ 2 packs (20 sets each)15 cm, 26 AWG connector leads
    2.54 mm 40-pin male breakaway headers ↗ 1 pack (20 strips)PCB and module connections
    STM32F042K6T6 core board ↗ 1Same MCU module used by DexUMI
    ADS1256 module ↗ 216 analog input channels total
    USB-to-TTL module, 3.3 V logic ↗ 1Runtime serial connection to the PC
    ST-Link V2 programmer ↗ 1Firmware flashing over SWD
    5.0 V / 1.0 A DC power supply ↗ 1Mainboard power
    USB 2.0 male to 2-pin bare-wire power cable, 50 cm ↗ 1 pack (2 cables)24 AWG USB power lead
    XT30 male/female connector set ↗ 1 setPower input and mating lead
    Dupont jumper wire kit ↗ 1 boxProgramming and bench connections
    Camera and other items
    Intel RealSense D405 ↗ 1Wrist-mounted RGB-D camera
    Lucas Oil 10533 White Lithium Grease ↗ 1Lubricate moving mechanical interfaces
    Scotch Super Glue Liquid, AD114 ↗ 1Small-part assembly
    Tools make life much easier
    Dremel 8240 cordless rotary tool ↗ 1Drilling, trimming, deburring, and small-part finishing
    Wera 950/9 Hex-Plus metric key set ↗ 1 setColor-coded metric hex keys make repeated assembly easier
    Xiaomi Electric Precision Screwdriver ↗ 1 setFast, low-torque assembly with a compact precision bit set

  3. Firmware and PC connection

    Firmware source · ZIP ↓ HEX ↓ BIN ↓

    4A Flash the STM32

    WUDI keeps the same STM32F042K6T6 and dual-ADS1256 modules as DexUMI; only the carrier mainboard is replaced.

    1. Install OpenOCD: sudo apt-get install openocd.
    2. With target power off, connect ST-Link V2: VTref → 3.3 V, GND → GND, SWDIO → PA13, and SWCLK → PA14. NRST is recommended.
    3. Power the board, place WUDI_Encoder16.hex in the current directory, and run:
    openocd -f interface/stlink-v2.cfg \
  -f target/stm32f0x.cfg \
  -c "program WUDI_Encoder16.hex verify reset exit"

    4B Connect the board to the PC

    1. Insert the STM32 core board in the top socket and both ADS1256 modules in the lower sockets. Confirm orientation before applying power.
    2. Connect regulated 5.0 V / 1.0 A through the XT30 female lead, then turn on the board switch.
    3. Connect a 3.3 V USB-to-TTL adapter: board PB6 / USART1_TX → adapter RX, board PB7 / USART1_RX → adapter TX, and GND → GND.
    4. Open the serial port at 921600 baud, 8N1. WUDI firmware sends all sixteen ADS1256 inputs in fixed 72-byte packets.

    Do not use a 5 V UART signal. Disconnect ST-Link after flashing unless the shared-ground debug setup has been reviewed.

    BIN SHA-2560ddb9dcba86dc33f97ae636f923d219fb492d62f53ba763dddd8e0c77025e3d9