2 layers85.5 × 56 mm
LIMB Shoulder
MDU-C2/LIMB-HT25
LIMB is a student project at Mälardalen University with the aim of creating a bionic arm to be used in the rehabilitation process of stroke survivors.
34 parts6
2 layers
EMG KiCad
MDU-C2/LIMB-HT256LIMB is a student project at Mälardalen University with the aim of creating a bionic arm to be used in the rehabilitation process of stroke survivors.
- Copper layers
- 2
- Thickness
- 1.6 mm
- Parts
- 44
- Nets
- 31
- Pads
- 122
- Tracks, vias
- 283, 0
- Routed
- Yes
- KiCad
- KiCad 9.0 (file 20241229)
- Created
- 15 Aug 2025
- Updated
- 15 Jun 2026
Overview
EMG KiCad is an open-source printed circuit board by MDU-C2, from the MDU-C2/LIMB-HT25 repository on GitHub. It is a 2-layer board with 44 parts on 31 nets, routed with 283 tracks and 0 vias.
It is built around the OPA350UA and 3314J-1-103E. Its parts include 18 capacitors, 16 resistors, 7 ICs and 3 connectors.
Main components
2
OPA350UA
SOIC-8-55℃~+150℃ 1 10pA 10pA 2.7V~5.5V 22V/us 38MHz 40mA 4uV/℃ 5.2mA 500uV 7nV/√Hz@10kHz 90dB Built-in compensation Rail-to-Rail Input, Rail-to-Rail Output SOIC-8 Operational Amplifier ROHSTexas InstrumentsPrecision Op Amps
3314J-1-103E
SMD,4.5x4.5mm1 10kΩ 250mW ±100ppm/℃ ±20% SMD,4.5x4.5mm Potentiometers, Variable Resistors ROHSBournsPotentiometers & Variable Resistors
README
README.mdLIMB
LIMB is a student project at Mälardalen University with the aim of creating a bionic arm to be used in the rehabilitation process of stroke survivors. The arm was developed in collaboration with Universidad de Antioquia, Universidad Tecnológica de Panamá, and UC Berkeley.
Platforms used
The microcontrollers used are ESP32-C3-Zeros and the main computer is an NVIDIA Jetson AGX Orin Developer Kit.
Controlling the arm
To control the arm first connect to the NVIDIA Jetson AGX Orin. See
the AGX Orin documentation for more details on how to connect to it.
Then you can use CAN messages to control the arm and get information from its sensors.
See the CAN documentation for more details regarding sending and receiving
CAN messages using the AGX Orin. There are various
ready-made python scripts in the /src/ directory that can be used to control the arm.
See /src/README.md for more details on how to run the python scripts.
Structure of repository
The key parts of the repository are:
scripts/- Contains a script to set up the virtual CAN interfaces on the Orin.
src/esp32/- Contains the programs for the ESP32-C3-Zero modules controlling the motors and reading from the sensors on the robot arm.
src/layers/- Contains the main program running on the AGX Orin, reading sensor values over the CAN bus from the ESP32s and over Bluetooth Low Energy from the user before figuring out how the robot arm should behave and sending out the new joint angles on the CAN bus to the ESP32s.
Parts
44| Qty | Value | Footprint | References |
|---|---|---|---|
| 18 | C_Small | Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder | C1, C2, C3, C4, C5, C7, C10, C11, C12, C13, C14, C15, C16, C17, C18, C19 +2 |
| 15 | R_Small | Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder | R1, R2, R3, R4, R5, R6, R7, R8, R9, R10, R12, R13, R14, R15, R16 |
| 2 | OPA2333xxD | Package_SO:SOIC-8_3.9x4.9mm_P1.27mm | U1, U2 |
| 1 | 3314J-1-103E | EMG_PCB:POT_3314J | R11 |
| 1 | AD623 | Package_SO:SOIC-8_5.3x6.2mm_P1.27mm | U0 |
| 1 | Conn_01x01_Socket | Connector_Samtec_HPM_THT:Samtec_HPM-01-05-x-S_Straight_1x01_Pitch5.08mm | J4 |
| 1 | Conn_01x02_Socket | Connector_Samtec_HPM_THT:Samtec_HPM-02-05-x-S_Straight_1x02_Pitch5.08mm | J3 |
| 1 | Conn_01x03_Socket | Connector_Samtec_HPM_THT:Samtec_HPM-03-05-x-S_Straight_1x03_Pitch5.08mm | J1 |
| 1 | LDO 1.5 | Package_TO_SOT_SMD:SOT-23-5 | U6 |
| 1 | LDO 3.3 | Package_TO_SOT_SMD:SOT-23-5 | U5 |
| 1 | OPA333xxDBV | Package_TO_SOT_SMD:SOT-23-5 | U3 |
| 1 | OPA350UA | Package_SO:SOIC-8_5.3x6.2mm_P1.27mm | U4 |
More from MDU-C2/LIMB-HT25
5- 2 layers85.5 × 56 mm
LIMB Biceps
MDU-C2/LIMB-HT25
LIMB is a student project at Mälardalen University with the aim of creating a bionic arm to be used in the rehabilitation process of stroke survivors.
26 parts6 - 2 layers72 × 55.6 mm
LIMB Lowerarm
MDU-C2/LIMB-HT25
LIMB is a student project at Mälardalen University with the aim of creating a bionic arm to be used in the rehabilitation process of stroke survivors.
19 parts6 - 2 layers71 × 31.1 mm
LIMB Hand
MDU-C2/LIMB-HT25
LIMB is a student project at Mälardalen University with the aim of creating a bionic arm to be used in the rehabilitation process of stroke survivors.
16 parts6 - 2 layers25 × 13 mm
CAN Transceiver
MDU-C2/LIMB-HT25
LIMB is a student project at Mälardalen University with the aim of creating a bionic arm to be used in the rehabilitation process of stroke survivors.
4 parts6
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Questions
What parts does the EMG KiCad use?
44 parts, built around the OPA350UA and 3314J-1-103E. 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 EMG KiCad KiCad files?
From the MDU-C2/LIMB-HT25 repository on GitHub, at the commit this page was made from: the board is designs/EMG-KiCad/EMG-KiCad.kicad_pcb and its schematic designs/CAN_Transceiver_KiCAD/CAN_Transceiver.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Can I use the EMG KiCad design in my own project?
Its repository states no licence, so its author keeps all rights: ask MDU-C2 before reusing the design.