2 layers37.3 × 16.3 mm Joint sensor, the printed circuit board in 3D

Joint sensor

PCB for humanoid joints

Size: 37.3 × 16.3 mm
Copper layers: 2
Thickness: 1.6 mm
Parts: 18
Nets: 27
Pads: 62
Tracks, vias: 113, 23
Pours: 14
Routed: Yes
KiCad: KiCad 9.0 (file 20241229)
Created: 28 Oct 2025
Updated: 28 Oct 2025

Overview

Joint sensor is an open-source printed circuit board by Elacker, from the Elacker/HumanoidJoint repository on GitHub. It is a 2-layer board of 37.3 × 16.3 mm with 18 parts on 27 nets, routed with 113 tracks and 23 vias.

It is built around the AT42QT1070-SSU and ICM-42670-P. Its parts include 11 resistors, 4 capacitors, 2 ICs and 1 connector. It belongs with the sensors and measurement boards of this library.

Main components

README

README.md

"# HumanoidJoint"

Parts

Qty	Value	Footprint	References
11	4.7k	Resistor_SMD:R_0402_1005Metric	R1, R2, R3, R4, R5, R6, R7, R8, R9, R10, R11
2	.1uF	Capacitor_SMD:C_0402_1005Metric	C1, C3
1	10nF	Capacitor_SMD:C_0402_1005Metric	C4
1	2.2uF	Capacitor_SMD:C_0603_1608Metric	C2
1	AT42QT1070-S	Package_SO:SOIC-14_3.9x8.7mm_P1.27mm	U2
1	Conn_01x04_Pin	Connector_PinHeader_2.54mm:PinHeader_1x04_P2.54mm_Vertical	J3
1	ICM-42670-P	Package_LGA:LGA-14_3x2.5mm_P0.5mm_LayoutBorder3x4y	U1

Questions

How big is the Joint sensor PCB?

It measures 37.3 × 16.3 mm and has 2 copper layers, 1.6 mm thick.

What parts does the Joint sensor use?

18 parts, built around the AT42QT1070-SSU and ICM-42670-P. 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 Joint sensor KiCad files?

From the Elacker/HumanoidJoint repository on GitHub, at the commit this page was made from: the board is joint_sensor.kicad_pcb and its schematic joint_sensor.kicad_sch. PCBKit opens the board in the browser, with nothing to install.

Can I use the Joint sensor design in my own project?

Its repository states no licence, so its author keeps all rights: ask Elacker before reusing the design.

Category and platform

Sensors and measurement

Project files

Show this board on your page

A live frame, for any web page

<iframe src="https://pcbkit.io/embed/boards/elacker-humanoidjoint" title="Joint sensor in PCBKit" width="100%" height="480" style="border:0;border-radius:12px" allow="fullscreen" loading="lazy"></iframe>

A picture

<img src="https://pcbkit.io/embed/boards/elacker-humanoidjoint.jpg" alt="Joint sensor" width="1200" height="900">

A picture that opens the board, for a README

[![Joint sensor](https://pcbkit.io/embed/boards/elacker-humanoidjoint.jpg?size=s)](https://pcbkit.io/boards/elacker-humanoidjoint)

Source

Repository: Elacker/HumanoidJoint
Board file: joint_sensor.kicad_pcb
Commit: f48d836
Licence: Not stated

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