# Robot description in the robot.yaml format, version 0.1.

format_version: "0.1"
name: Hand Exoskeleton
summary: A low-cost 6DoF hand exoskeleton using linkage and tendon mechanisms, controlled by an ESP32 and seven SC09 bus servos.
category: arm
difficulty: intermediate
license:
  hardware: MIT
  software: MIT
source:
  repository: https://github.com/MengyangGao/hand_exoskeleton
  ref: a5d6a1de1cad0b27d47d62ecb8d4f4c7c4600ad7
estimated_cost:
  amount: 500
  currency: CNY
tools:
  - 3D printer
  - soldering iron
  - hex screwdriver
  - wire cutters
  - hot glue gun
  - hot air gun (optional)
  - heat shrink tubing (optional)
  - power switch (optional)
  - insulation tape (optional)
files:
  parts_3d: mechanics/FDM_3DPrinting/
  cad: mechanics/CAD_SolidWorks/
  images:
    - images/overview.jpg
software:
  framework: arduino
specs:
  dof: 6
  weight_g: 400
  height_mm: 310
build_steps:
  - title: Download and prepare repository files
  - title: 3D print mechanical parts
  - title: Assemble mechanical structure
  - title: Configure ESP32 Arduino development environment
  - title: Upload software to ESP32
  - title: Set servo IDs via web interface
  - title: Calibrate mechanical zero positions
  - title: Test and operate