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  • RE: Show us your Bento Arm!

    @dshamir It looks you've made some great progress so far! Sorry that we missed your email. I have updated our contact page, so that the emails will go directly to me from now on (previously my professor was forwarding the emails to me, but maybe this adds an extra delay). I will follow up with you over email to try and set up a support call. Unfortunately, we do not sell HANDi Hands at this time, but we appreciate the feedback since we are considering trying to find a way to sell them in the future.

    posted in Bento Arm
  • RE: Show us your Bento Arm!

    @dshamir said in Show us your Bento Arm!:

    How can we attach Handi Hand to the Bento arm?

    Hi dshamir. Welcome to the forum!

    To attach the HANDi Hand to the Bento Arm you will need to print the Wrist Connector.STL file from the HANDi Hand github repo and use it instead of the Wrist_Hand_Adapter_PLA.STL file as seen in the Bento Arm github repo. This modified wrist connector has cutouts to allow the HANDi Hand wiring to pass through the back of the connector through the wrist flexion bracket of the Bento Arm into the Breadboard Hub as described on p.14 of the HANDi Hand assembly manual. You will then need to make a cable with mating connectors that match those on the Breadboard Hub that is long enough to travel down the length of the arm, up the shoulder and then down into the base of the stand where we normally place the Arduino Mega that controls the HANDi Hand. Make sure to leave enough slack in the cable to allow for the movement in the elbow/wrist and you can affix it in place along the arm using zip ties or twist ties. I think we used the same continuous flex wire for this cable that was used in the fingers to make sure it was flexible enough around the Bento Arm joints and then we bundled it all together in a braided cable sleeve. If you are just wanting to connect the servomotors and are not connecting the sensors then you can maybe skip using the breadboard hub and just run some servo extension wires along the arm although I would still recommend keeping them together with the braided cable sleeve. If you want to also use the arm shells for the Bento Arm then we recommend adding some blue or clear elastics around the shells to help hold them on since the movement of the HANDi Hand cable can sometimes pop them off otherwise. Here is a photo that shows the HANDi Hand cable and the elastics for your reference.

    I have added a note in our todo list to add a section in to the next release of of the HANDi Hand assembly guide to document this process. In the near future we plan to release an updated version of the Breadboard Hub that uses a protoboard which should hopefully be easier to solder and assemble. We are hoping to include this improved protoboard in the next major release of the HANDi Hand which we have scheduled for Feb 2020. In the long term we are planning on turning that protoboard into a printed circuit board and adding a microcontroller onto it, so that the sensor signals from the hand can be digitized at the wrist and then just a single 3 wire cable will have to run along the arm to the Arduino.

    Let me know if you have any more questions.

    posted in Bento Arm
  • RE: Free or Reasonably Prices Resources to Start Learning Machine Learning?

    @djphan I recently came across an interesting medium article that gives an overview of the voiceprint technology being used by some organizations as a way for authenticating users as an alternative or secondary measure to the good old standard password.

    As with any kind of developing tech it looks like their may still be some vulnerabilities as a pair of twins were able to fool the system as described in this article:

    posted in Machine Learning
  • RE: Free or Reasonably Prices Resources to Start Learning Machine Learning?

    I'm not sure about Udacity/Udemy courses, but here are some ones that I've collected over the years and passed onto colleagues looking for supplemental instruction:

    Stanford CS229 – Machine Learning Autumn 2008
    Course Link:

    Practical Machine Learning
    John Hopkins Bloomberg School of Public Health
    Course Link:

    Learning from Data - Caltech
    Course Link:

    Richard Sutton/Andrew Barto – Reinforcement Learning: An Introduction (2nd edition)

    Professor Balaraman Ravindran’s “introduction to RL” video lectures:

    Deep Learning and Reinforcement Learning Summer School, Toronto 2018

    posted in Machine Learning
  • RE: Whats your fav type of pasta?

    Last night I had alfredo spaghetti and I have to say it was pretty good! I'm not sure why they don't serve that one in restaurants.

    posted in General Discussion
  • RE: Feature Requests

    @drwho72 Thanks for your feedback! I have updated the votes on the feature lists.

    I think it may be possible to add in more shoulder DOFs, but we would need to maybe axe the shoulder bearing in order to make more space for servos and as you mentioned use servos with more power. For stronger servos it may be possible to use a higher torque dynamixel PRO servo (would need to be controlled and powered separately) or possibly use an MX-106T with a small transmission to amplify the torque.

    The clinical version of the Bento Arm is well on its way and we are hoping to have a working system installed in our local rehabilitation hospital by midsummer. I am investigating increasing the payload capacity by upgrading the existing MX-28AT wrist flexion servo to one of the ones from the new dynamixel X series (probably XM430-W350-T). They are actually a bit smaller than the MX-28AT model, but provide significantly more torque.

    As for the communication options for brachI/Oplexus -- we have already begun using these protocols in experimental builds and will hopefully have TCP/IP and UDP modules available in an upcoming release.

    posted in Bento Arm
  • FAQ

    Once we start getting some questions I will post the most frequent of them here.

    posted in brachI/Oplexus
  • Feature Requests

    Do you have an idea for a new feature for the brachI/Oplexus software? Post it up here. I will maintain a list of your requested features along with a list of the features currently in development and their completion percentage. If you see a feature on the list that you would like developed please reply to this thread with the feature name and an indication of your vote. We are going to use your input to help prioritize the order we work on the features to make sure we get the most important ones to you the fastest. Once we have a decent amount of votes for a feature we will move it into the active queue and start trying to gather resources and team members to start pushing the feature towards open source release.

    alt text

    posted in brachI/Oplexus
  • Announcements

    I will post announcements specific to the brachI/Oplexus project in this topic.

    posted in brachI/Oplexus

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