GEAR DexUMI / Bill of Materials
Bill of Materials
Quantities are for one pair of hands. Part numbers follow the UMI-DEX convention.
Tip: hover over (or tap) an underlined part name to preview its reference image. Hover over a STEP link to see a render of that CAD file.
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Download all files
One ZIP per file type for each section, so you can grab everything at once. The ZIPs list the same files as the tables below.
| Section | STEP(custom CNC) | Drawings(custom CNC) | STL(3D printed parts) | 3MF(3D printed parts) |
|---|---|---|---|---|
| Exoskeleton | ZIP 45 files · 2.1 MB | ZIP 45 files · 11.1 MB | ZIP 13 files · 4.4 MB | ZIP 12 files · 1.8 MB |
| Camera neck mount | — | — | ZIP 5 files · 0.8 MB | ZIP 1 file · 0.5 MB |
| X Hand | ZIP 3 files · 0.1 MB | ZIP 3 files · 0.9 MB | ZIP 2 files · 0.1 MB | ZIP 2 files · 0.2 MB |
Exoskeleton
Custom CNC parts
| Part number | Part | Qty per pair | CAD file | Drawing |
|---|---|---|---|---|
| UMI-DEX-ASM-02-0001-R | DU-02-01R | 4 | STEP | |
| UMI-DEX-ASM-02-0002 | DU-02-02 | 16 | STEP | |
| UMI-DEX-ASM-02-0003 | DU-02-03 | 24 | STEP | |
| UMI-DEX-ASM-02-0004 | DU-02-04 | 8 | STEP | |
| UMI-DEX-ASM-02-0005-R | DU-02-05R | 4 | STEP | |
| UMI-DEX-ASM-03-0001-V1 | DU-03-01 | 4 | STEP | |
| UMI-DEX-ASM-03-0002 | DU-03-02 | 4 | STEP | |
| UMI-DEX-ASM-03-0003-R | DU-03-03R | 2 | STEP | |
| UMI-DEX-ASM-03-0003-L | DU-03-03L | 2 | STEP | |
| UMI-DEX-ASM-03-0004 | DU-03-04 | 2 | STEP | |
| UMI-DEX-ASM-03-0005 | DU-03-05 | 2 | STEP | |
| UMI-DEX-ASM-03-0006-R | DU-03-06R | 1 | STEP | |
| UMI-DEX-ASM-03-0006-L | DU-03-06L | 1 | STEP | |
| UMI-DEX-ASM-03-0007 | DU-03-07 | 2 | STEP | |
| UMI-DEX-ASM-03-0008 | DU-03-08 | 2 | STEP | |
| UMI-DEX-ASM-03-0009-R | DU-03-09R | 1 | STEP | |
| UMI-DEX-ASM-03-0009-L | DU-03-09L | 1 | STEP | |
| UMI-DEX-ASM-02-0006 | DU-02-06 | 8 | STEP | |
| UMI-DEX-ASM-03-0010-R | DU-03-10R | 4 | STEP | |
| UMI-DEX-ASM-03-0010-L | DU-03-10L | 4 | STEP | |
| UMI-DEX-ASM-02-0001-L | DU-02-01L | 4 | STEP | |
| UMI-DEX-ASM-02-0005-L | DU-02-05L | 4 | STEP | |
| UMI-DEX-ASM-04-0001-R | DU-04-01R | 1 | STEP | |
| UMI-DEX-ASM-04-0001-L | DU-04-01L | 1 | STEP | |
| UMI-DEX-ASM-04-0002-R | DU-04-02R | 1 | STEP | |
| UMI-DEX-ASM-04-0002-L | DU-04-02L | 1 | STEP | |
| UMI-DEX-ASM-04-0003-R | DU-04-03R | 1 | STEP | |
| UMI-DEX-ASM-04-0003-L | DU-04-03L | 1 | STEP | |
| UMI-DEX-ASM-04-0004-R | DU-04-04R | 1 | STEP | |
| UMI-DEX-ASM-04-0004-L | DU-04-04L | 1 | STEP | |
| UMI-DEX-ASM-01-0005 | DU-01-05 | 8 | STEP | |
| UMI-DEX-ASM-01-0001-R | DU-01-01R | 1 | STEP | |
| UMI-DEX-ASM-01-0001-L | DU-01-01L | 1 | STEP | |
| UMI-DEX-ASM-01-0002 | DU-01-02 | 2 | STEP | |
| UMI-DEX-ASM-01-0003-R | DU-01-03R | 1 | STEP | |
| UMI-DEX-ASM-01-0003-L | DU-01-03L | 1 | STEP | |
| UMI-DEX-ASM-01-0004-R | DU-01-04R | 1 | STEP | |
| UMI-DEX-ASM-01-0004-L | DU-01-04L | 1 | STEP | |
| UMI-DEX-ASM-OIM-0003-R | OIM-03R | 1 | STEP | |
| UMI-DEX-ASM-OIM-0003-L | OIM-03L | 1 | STEP | |
| UMI-DEX-TLG-0003 | DU-TOOL-01 | 1 | STEP | |
| UMI-DEX-TLG-0002 | DU-TOOL-02 | 1 | STEP | |
| UMI-DEX-TLG-0004 | DU-TOOL-03 | 1 | STEP |
Custom Pins
| Part number | Part | Qty per pair | CAD file | Drawing |
|---|---|---|---|---|
| UMI-DEX-ASM-02-0007 | DU-02-07 | 150 | STEP | |
| UMI-DEX-ASM-02-0008 | DU-02-08 | 14 | STEP |
Filament and print profile
Filament: Bambu Lab black or Bambu Lab green PLA.
Printer: Bambu Lab P2S
Print profile: included in each .3mf. Open it in Bambu Studio.
3D-printed parts
All 3D-printed parts are made of PLA.
| Part number | Part | Qty per pair | Description | Files | |
|---|---|---|---|---|---|
| UMI-DEX-ASM-12-0001-R | Right Thumb Top | 1 | Green Top part of thumb | STL · 3MF | |
| UMI-DEX-ASM-12-0001-L | Left Thumb Top | 1 | Green Top part of thumb | STL · 3MF | |
| UMI-DEX-ASM-13-0001-R | Printed Palm Sensor R | 1 | Black | STL · 3MF | |
| UMI-DEX-ASM-13-0001-L | Printed Palm Sensor L | 1 | Black | STL · 3MF | |
| UMI-DEX-ASM-08-0001 | Main Board Cover | 2 | Black | STL · 3MF | |
| UMI-DEX-ASM-09-0001 | USB-C cable clip | 2 | Black Clips into palm board cover to reduce strain on USB-C connector | STL · 3MF | |
| UMI-DEX-ASM-10-0001 | Iphone Mount | 2 | Black | ZIP | |
| UMI-DEX-ASM-10-0002 | ↳ iPhone clip | 2 | Black | STL · 3MF | |
| UMI-DEX-TLG-0005 | Calibration Tool Right | 1 | Black | STL · 3MF | |
| UMI-DEX-TLG-0006 | Calibration Tool Left | 1 | Black | STL · 3MF | |
| UMI-DEX-ASM-07-0001 | Legs | 10 | Black Adhere to bottom of Calibration tool. Super glue will work well | STL · 3MF | |
| UMI-DEX-ASM-11-0001 | Secondary Camera Mount Right | 1 | Black Used for overlay calibration | STL · 3MF | |
| UMI-DEX-ASM-11-0002 | Secondary Camera Mount Left | 1 | Black Used for overlay calibration | STL · 3MF |
Sensors and electronics
| Part | Qty per pair | Manufacturer | Part number | Description | Vendor | Link | |
|---|---|---|---|---|---|---|---|
| OAK-1W | 2 | Luxonis | OAK-1-W | camera | Luxonis | link | |
| iPhone 15 Pro | 2 | Apple | FTQM3LLIA | phone | Amazon | link | |
| USB-C cable | 6 | Elfesoul | ES8101066-UAC-001 | Communication cables | Amazon | link | |
| Encoder | 30 | N/A | DexUMI-E | encoder | N/A | Coming soon | |
Finger Tactile sensors | 10 | Tashan | TS-F-B-X1 | Finger tip tactile sensor | TASHAN | link | |
Palm Tactile sensor L | 1 | Tashan | TS-M-X1-L | Palm tactile sensor L | TASHAN | link | |
Palm Tactile sensor R | 1 | Tashan | TS-M-X1-R | Palm tactile sensor R | TASHAN | link | |
dexUMI Palm Board | 2 | N/A | DexUMI-P | main board | N/A | link |
Wires
| Wire | End 1 | End 2 | Length | Qty per pair | Part number |
|---|---|---|---|---|---|
Encoder to Encoder wires | 6-pin 06XSR-36S | 6-pin 06XSR-36S | 102 mm | 22 | A06XSR06XSR36R102A |
| 254 mm | 8 | A06XSR06XSR36R254A | |||
Encoder to Sensor wires | 6-pin 06XSR-36S | 4-pin 04SUR-32S (0.8 mm) | 50 mm | 8 | N/A |
| 102 mm | 2 | N/A |
Off-the-shelf hardware
18-8 stainless steel or grade 12.9 screws used
| Part | Qty per pair | Thread | Length (mm) | Where used | Vendor | Link | |
|---|---|---|---|---|---|---|---|
| Washer 2.5 ID x4 OD x 0.1 T mm | 164 | NA | NA | PIn Joints | Misumi | link | |
| Washer 6 ID x 10 OD x 0.1 T mm | 8 | NA | NA | ABAD Knuckle Joint | Misumi | link | |
| Slotted flat head screw | 8 | M1.2 | 4 | Fingertip tactile mount | Accu | link | |
| Slotted flat head screw | 14 | M1.2 | 6 | Encoder mount RCM joints | Accu | link | |
| Slotted flat head screw | 8 | M1.2 | 8 | Magnet encoder mount ABAD | Accu | link | |
| Slotted flat head screw | 8 | M1.2 | 5 | Distal magnet encoder | Accu | link | |
| Slotted flat head screw | 30 | M1.2 | 4 | Encoder board mount | Accu | link | |
| Socket Cap Screw | 10 | M1.6 | 5 | Palm sensor mounts | McMaster | link | |
| Countersunk screw | 16 | M1.6 | 3 | Finger tactile mount | McMaster | link | |
| Socket Cap Screw | 4 | M1.6 | 5 | Thumb tactile sensor mount | McMaster | link | |
| Countersunk screw | 6 | M2 | 5 | Top knuckle plate mount | McMaster | link | |
| Countersunk screw | 8 | M2 | 3 | Distal adapter mount | McMaster | link | |
| Hex Nut | 6 | M2 | NA | Thumb cap mount | McMaster | link | |
| Socket Cap Screw | 8 | M2 | 6 | Handle Mount | McMaster | link | |
| Socket Cap Screw | 4 | M2 | 6 | Thumb O joint mount | McMaster | link | |
| Socket Cap Screw | 6 | M2 | 5 | Thumb cap mount | McMaster | link | |
| Socket Cap Screw | 8 | M3 | 10 | I Phone mount Screws | McMaster | link | |
| Countersunk screw | 4 | M3 | 12 | Top Plate Standoff screws | McMaster | link | |
| Countersunk screw | 4 | M3 | 8 | Palm Plate Standoff screws | McMaster | link | |
| Socket Cap Screw | 4 | M3 | 8 | OAK CAM MOUNT SCREWS | McMaster | link | |
| Countersunk screw | 4 | M4 | 8 | OAK CAMERA MOUNTING | McMaster | link | |
| Hex Stand off | 4 | M3 | 37mm | Palm | McMaster | link | |
| Wrist Strap | 2 | NA | 400mm | Wrist mount on Palm | Amazon | link | |
| Pin 3mm D | 4 | NA | 8mm | Camera Mount Alignment | McMaster | link |
Lubricants and adhesives
| Item | Amount | Part number | Manufacturer | Vendor | Link | |
|---|---|---|---|---|---|---|
| Super Lube Synthetic Grease | 1 bottle | 21030 | Super Lube | Amazon | link | |
| Retaining compound Green | 1 bottle | 609 | loctite | Amazon | link | |
| Loctite Blue | 1 bottle | 243 | Loctite | Amazon | link | |
| Loctite Red | 1 bottle | 271 | Loctite | Amazon | link | |
| Super glue | 1 bottle | 1364076 | Loctite | Amazon | link | |
| Acetone | 1 bottle | n/a | Pronto | Amazon | link | |
| Scotch-Brite pad | 1 | n/a | Scotch-Brite | Amazon | link | |
| Grip tape | 1 roll | TB641 | 3M | Amazon | link |
Tools
| Tool | Qty | Tool ID | Vendor | Link | |
|---|---|---|---|---|---|
| Manual Arbor Press (0.5 – 1.0 Ton) | 1 | TL-01 | Amazon | link | |
| iFixit Precision Toolkit | 1 | TL-02 | Amazon | link | |
| Fine Point Pin & Shim Alignment Tweezers | 1 | TL-05 | Amazon | link | |
| Custom Pin Alignment & Support Anvil Block | 1 | TL-06 | Amazon | link | |
| Custom Pin Alignment & Support Anvil Block | 1 | TL-06 | Amazon | link | |
| Metric Allen Wrench set | 1 | TL-08 | Amazon | link |
Camera Neck Mount
Filament and print profile
Filament: Bambu Lab black PLA. The filament setting is included in each .3mf.
Printer: P2S
Print profile: included in each .3mf. Open it in Bambu Studio.
3D-printed parts
All 3D-printed parts are made of PLA.
| Part number | Part | Qty per pair | Description | Files | |
|---|---|---|---|---|---|
| UMI-DEX-ASM-14-0001 | Neck Camera Assembly | 1 | Black | 3MF | |
↳ Neck holder | 1 | Black | STL | ||
↳ Adjustment neck | 1 | Black | STL | ||
↳ Handle | 1 | Black | STL | ||
↳ Camera mount | 1 | Black | STL | ||
↳ Camera mount pin | 2 | Black | STL |
Off-the-shelf hardware
| Part | Qty per pair | Thread | Length (mm) | Where used | Vendor | Link | |
|---|---|---|---|---|---|---|---|
| Hex head bolt | 1 | M5 | 45 | Adjustment neck pivot | McMaster | link | |
| Hex nut | 1 | M5 | NA | Adjustment neck pivot | McMaster | link | |
| Socket Cap Screw | 2 | M4 | 12 | Camera mount | McMaster | link |
Camera
| Part | Qty per pair | Manufacturer | Part number | Description | Vendor | Link | |
|---|---|---|---|---|---|---|---|
| OAK-D | 1 | Luxonis | OAK-D S2 | camera | Luxonis | link |
X Hand
Custom CNC parts
| Part number | Part | Qty per pair | CAD file | Drawing |
|---|---|---|---|---|
| UMI-DEX-ASM-OIM-0001 | OIM-01 | 2 | STEP | |
| UMI-DEX-ASM-OIM-0003-R | OIM-03R | 1 | STEP | |
| UMI-DEX-ASM-OIM-0003-L | OIM-03L | 1 | STEP |
Filament and print profile
Filament: Bambu Lab black PLA. The filament setting is included in each .3mf.
Printer: P2S
Print profile: included in each .3mf. Open it in Bambu Studio.
3D-printed parts
All 3D-printed parts are made of PLA.
| Part number | Part | Qty per pair | Description | Files | |
|---|---|---|---|---|---|
| UMI-DEX-ASM-11-0001 | Secondary Camera Mount Right | 1 | Black Used for overlay calibration | STL · 3MF | |
| UMI-DEX-ASM-11-0002 | Secondary Camera Mount Left | 1 | Black Used for overlay calibration | STL · 3MF |
Off-the-shelf hardware
| Part | Qty per pair | Thread | Length (mm) | Where used | Vendor | Link | |
|---|---|---|---|---|---|---|---|
| Socket Cap Screw | 20 | M3 | 8 | Xhand Mounting | McMaster | link | |
| Pin 3mm D | 4 | NA | 8mm | Camera Mount Alignment | McMaster | link |
Lubricants and adhesives
| Item | Amount | Part number | Manufacturer | Vendor | Link | |
|---|---|---|---|---|---|---|
| Loctite Blue | 1 bottle | 243 | Loctite | Amazon | link |