2 layers18 × 154 mm
Fingertip
6thSense-dev/mocap-glove
Magnetic MoCap glove firmware, tracking diagnostics and local hand visualizer
29 parts
4 layers52 × 48 mm
Hand hub
6thSense-dev/mocap-gloveMagnetic MoCap glove firmware, tracking diagnostics and local hand visualizer
- Size
- 52 × 48 mm
- Copper layers
- 4
- Thickness
- 1 mm
- Parts
- 106
- Nets
- 135
- Pads
- 470
- Tracks, vias
- 1,896, 237
- Pours
- 2
- Routed
- Yes
- KiCad
- KiCad 9.0 (file 20241229)
- Created
- 2 Nov 2026
- Updated
- 4 Nov 2026
Overview
Hand hub is an open-source printed circuit board by 6thSense-dev, from the 6thSense-dev/mocap-glove repository on GitHub. It is a 4-layer board of 52 × 48 mm with 106 parts on 135 nets, routed with 1,896 tracks and 237 vias.
It is built around the STM32G474RET6, SN74LVC244APWRE4 and DRV8837DSGR-MS, with the BMI323, TLV75533PDBVR-MS and USBLC6-2SC6 among its other parts. Its parts include 53 resistors, 29 capacitors, 13 ICs, 8 connectors and 2 switches. It belongs with the STM32 boards of this library.
Main components
10
STM32G474RET6
LQFP-64(10x10)-40℃~+85℃ 1.71V~3.6V 128KB 12bit 12bit 170MHz 32 Bit 512KB 52 ARM Cortex-M4F Built-in FLASH LQFP-64(10x10) Microcontrollers (MCU/MPU/SOC) ROHSSTMicroelectronicsMicrocontrollers (MCU/MPU/SOC)
SN74LVC244APWRE4
TSSOP-20-40℃~+125℃ 1.65V~3.6V 2 24mA 24mA 4 40uA 5.7ns@3.3V,50pF 74LVC Output enable、Level shifting Tri-State Unidirectional TSSOP-20 Buffers, Drivers, Receivers, Transceivers ROHSTexas InstrumentsBuffer/Driver/TransceiverDRV8837DSGR-MS
WSON-8-EP(2x2)-40℃~+125℃ 1.5A 1.8V~7V 17nA 650mΩ Yes WSON-8-EP(2x2) Brushed DC Motor Drivers ROHSMSKSEMIBrushed DC Motor Drivers
BMI323
LGA-14-40℃~+85℃ IMU (accelerometer + gyroscope) Motion event detection LGA-14 Accelerometers ROHSBosch SensortecAccelerometers
TLV75533PDBVR-MS
SOT-23-5SOT-23-5 Voltage Regulators - Linear, Low Drop Out (LDO) Regulators ROHSMSKSEMIUncategorised
USBLC6-2SC6
SOT-23-60.35pF、0.8pF 100nA 150W@8/20us 15V 2 5V 6A@8/20us 6V ESD SOT-23-6 ESD and Surge Protection (TVS/ESD) ROHSUMWESD And Surge Protection (TVS/ESD)
FH12-12S-0.5SH(55)
SMD,P=0.5mm,卧贴-40℃~+85℃ 0.3mm 0.5mm 12P 2mm Bottom Contact Gold Hinged Lid Phosphor bronze Surface Mount, Right Angle SMD,P=0.5mm,卧贴 FFC, FPC (Flat Flexible) Connector Assemblies ROHSHirose ElectricFFC, FPC (Flat Flexible) Connector Assemblies
B3U-1000P
SMD,3x2.5mm-25℃~+70℃ 1.53N 1.6mm 12V 2.5mm 3mm 50mA Round Button SMD(SMT) Tab SPST Surface Mount,Vertical SMD,3x2.5mm Tactile Switches ROHSOmronTactile Switches
3N08192G33YC
SMD3225-4P-40℃~+85℃ 1.8V~3.3V 5mA 8.192MHz ±30ppm SMD3225-4P Crystal Oscillators ROHSSJKCrystal Oscillators
PH1.27-02-03PWS
SMD,P=1.27mm-40℃~+105℃ 1.27mm 1.27mm 1A 1mm 2 2x3P 4mm 6P Black Brass Gold Pin Header Surface Mount,Vertical SMD,P=1.27mm Pin Headers ROHSXUNPUPin Headers
README
README.md6thSense magnetic MoCap glove
STM32G474 diagnostic/streaming firmware and local magnetic fingertip tracking viewer.
Run locally
Install Python dependencies with python3 -m pip install -r requirements.txt, then run python3 control-panel/server.py and open http://127.0.0.1:8775/hand.
Read START-HERE.txt before powered tests. Firmware build instructions are in firmware-app/BUILD.txt. The viewer does not automatically flash hardware.
Saved scope and limitations
Includes firmware source, local viewer, calibration algorithms, automated tests and required vendor assets. Hardware-specific calibration profiles, recordings, flash backups and build outputs remain on the development machine and are intentionally excluded. An empty checkout requires its own calibration before calibrated tracking can be reproduced. Browser display preferences are local to the browser.
Jitter filtering, continuous mirror-branch tracking and reversible per-finger Z display correction are included. Z reversal is a display correction, not physical calibration. Magnetic mirror ambiguity and absolute accuracy are not established by software tests. IMU translation is experimental and drifts; CAD joint angles are inferred robot retargeting, not independently measured finger joints.
Third-party assets
The Aero Hand Open meshes and URDF originate from Chestnut Robotics (formerly TetherIA), commit 7bb2f23485a7d440960c21046da642de132b7745, under CC BY-NC-SA 4.0. Preserve the license, attribution and provenance in control-panel/vendor/aero-hand/. The current integration is for the user-confirmed noncommercial use. This is not a blanket license for commercial use of those assets.
Three.js and ST firmware dependencies retain their upstream license files. No blanket license is granted over the entire repository.
Tests
python3 -m unittest discover -s control-panel -p 'test_*.py'
node control-panel/test-hand-z-reflection.cjs
node control-panel/test-aero-kinematics.cjs
node control-panel/test-hand-view-frame.cjs
PCB design files
Complete V6 PCB projects and manufacturing files: hand hub, fingertip flex and source carrier.
Parts
106| Qty | Value | Footprint | References |
|---|---|---|---|
| 19 | 100n | Capacitor_SMD:C_0402_1005Metric | C3, C4, C10, C11, C12, C13, C14, C15, C16, C19, C20, C23, C24, C27, C28, C29 +3 |
| 15 | 120 | Resistor_SMD:R_0402_1005Metric | R8, R9, R10, R11, R12, R13, R14, R15, R16, R17, R18, R19, R20, R21, R22 |
| 10 | 47 | Resistor_SMD:R_0402_1005Metric | R23, R24, R26, R27, R29, R30, R32, R33, R35, R36 |
| 6 | 33 | Resistor_SMD:R_0402_1005Metric | R7, R25, R28, R31, R34, R37 |
| 5 | FH12-12S-0.5SH(55) | Connector_FFC-FPC:Hirose_FH12-12S-0.5SH_1x12-1MP_P0.50mm_Horizontal | J1, J2, J3, J4, J5 |
| 4 | 100k | Resistor_SMD:R_0402_1005Metric | R38, R39, R51, R53 |
| 4 | 1u | Capacitor_SMD:C_0402_1005Metric | C8, C17, C21, C25 |
| 3 | 0.2 0.1W 1% | Resistor_SMD:R_0603_1608Metric | R43, R46, R49 |
| 3 | 100 | Resistor_SMD:R_0402_1005Metric | R44, R47, R50 |
| 3 | 1n | Capacitor_SMD:C_0402_1005Metric | C18, C22, C26 |
| 3 | 47 1W 1% | Resistor_SMD:R_2512_6332Metric | R42, R45, R48 |
| 3 | DRV8837DSGR | Package_SON:WSON-8-1EP_2x2mm_P0.5mm_EP0.9x1.6mm | U7, U8, U9 |
| 3 | INA240A1PWR | Package_SO:TSSOP-8_4.4x3mm_P0.65mm | U10, U11, U12 |
| 2 | 0 | Resistor_SMD:R_0603_1608Metric | R3, R4 |
| 2 | 10k | Resistor_SMD:R_0402_1005Metric | R6, R52 |
| 2 | 4.7k | Resistor_SMD:R_0402_1005Metric | R40, R41 |
| 2 | 5.1k | Resistor_SMD:R_0603_1608Metric | R1, R2 |
| 2 | B3U-1000P | Button_Switch_SMD:SW_SPST_B3U-1000P | SW1, SW2 |
| 2 | SN74LVC244APWR | Package_SO:TSSOP-20_4.4x6.5mm_P0.65mm | U4, U5 |
| 1 | 10 | Resistor_SMD:R_0402_1005Metric | R5 |
| 1 | 1u | Capacitor_SMD:C_0603_1608Metric | C1 |
| 1 | 3-axis source | Connector_JST:JST_SH_BM06B-SRSS-TB_1x06-1MP_P1.00mm_Vertical | J9 |
| 1 | 3N08192G33YC | Glove:SJK_3N_3225 | Y1 |
| 1 | 4.7u | Capacitor_SMD:C_0402_1005Metric | C7 |
| 1 | 4.7u | Capacitor_SMD:C_0603_1608Metric | C2 |
| 1 | BMI323 | Package_LGA:Bosch_LGA-14_3x2.5mm_P0.5mm | U6 |
| 1 | PH1.27-02-03PWS | Glove:XUNPU_PH127_2x03_SMD | J7 |
| 1 | STM32G474RET6 | Package_QFP:LQFP-64_10x10mm_P0.5mm | U1 |
| 1 | TLV75533PDBVR | Package_TO_SOT_SMD:SOT-23-5 | U3 |
| 1 | TPS22919DCKR | Package_TO_SOT_SMD:SOT-363_SC-70-6 | U14 |
| 1 | USB-C USB2 | Glove:USB_C_HRO_Envelope | J6 |
| 1 | USBLC6-2SC6 | Package_TO_SOT_SMD:SOT-23-6 | U2 |
More from 6thSense-dev/mocap-glove
2- 2 layers28 × 28 mm
Source carrier
6thSense-dev/mocap-glove
Magnetic MoCap glove firmware, tracking diagnostics and local hand visualizer
4 parts
Similar boards
- 4 layers148 × 78 mm
Hub
Bruhdows/klink
Klink is a magnetic tile system for building programmable machines. First up: a marble run with sensors, buttons, lights, gates, splitters and an elevator.
85 parts - 4 layers85.9 × 85.9 mm
Pd1180-epr r0.3
techmannih/pd1180-epr
PD1180-EPR — NEMA 34 Smart Motor-Mounted Stepper Controller with USB-C PD 3.1 EPR
277 parts - 4 layers70 × 52 mm
Pager carrier rev a
vyquocvu/analog-ai-chip
This directory contains the editable KiCad 10 source for the 70 mm × 52 mm, four-layer Pager-1 main carrier. The display, keypad, protected Li-Po pack, and analog accelerator are external assemblies.
32 parts1MIT - 2 layers171.7 × 97.4 mm
Hhkb split right
ms0216/hhkb-split
HHKB Professional HYBRID Type-S の使い勝手を再現する完全分割型キーボード（ZMK / XIAO nRF52840 / build123d による寸法駆動CAD）
83 parts1 - 4 layers46 × 46 mm
- 2 layers132.5 × 105.7 mm
- 2 layers100 × 100 mm
CTRL
DD1SB/ARDF-TX
Date: 2026-10-15. Engineering review only; unbuilt and unenergized. Open RF80.kicadpro, schematic and native PCB in KiCad10.0.6. Three primary PCBs and the separate VHF true-AM design are unchanged.
256 partsMIT - 6 layers460 × 340 mm
Motherboard populated candidate
DeadlySIn777/Controller
Unfinished CNC controller motherboard: native KiCad sources, rules, DSN and global routing review
880 parts
Questions
How big is the Hand hub PCB?
It measures 52 × 48 mm and has 4 copper layers, 1 mm thick.
What parts does the Hand hub use?
106 parts, built around the STM32G474RET6, SN74LVC244APWRE4, DRV8837DSGR-MS and BMI323. The full list of its parts is on this page, with links to each part's symbol and footprint where PCBKit's library has them.
Where can I download the Hand hub KiCad files?
From the 6thSense-dev/mocap-glove repository on GitHub, at the commit this page was made from: the board is hardware/pcb/v6/hand-hub/hand-hub.kicad_pcb and its schematic hardware/pcb/v6/fingertip/fingertip.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Can I use the Hand hub design in my own project?
Its repository states no licence, so its author keeps all rights: ask 6thSense-dev before reusing the design.