1. Super glue the legs to the bottom of each calibration tool.
2. Cut the grip tape to 20 x 20 mm and stick it to the bottom of each calibration tool leg.

1. Apply grease to the washer.
2. Insert the pin into the top hole of the link.
3. Grease another washer and place it under the pin.

1. 

   

   Put DU-TOOL-03 between DU-02-03 and DU-02-02.
2. Align the smooth top pin with the holes and press-fit.

1. Press-fit a smooth top pin to join the second DU-02-04 link.
2. Repeat on the second set of holes for the next link.
3. Only have two pins diagonal from each other.

1. Attach the DU-02-04 encoder link to the top hole of DU-02-02.
2. On the second bar, repeat steps 1 and 2 on the second hole.

1. Attach DU-02-04 to DU-02-02 with an adapter head pin.
2. Follow steps 1 to 3 to attach the second DU-02-03 link.

1. Place washers on the openings at the ends of the bars.
2. Place DU-02-01 on top, aligning the washers with the holes.

3. 

   Put DU-TOOL-03 in the bar notch, then press-fit the smooth top screws. Repeat on the other side.

1. Place DU-03-02 (5)(8) onto DU-02-05 on the non-encoder side.
2. Pass a smooth top screw and washer through DU-03-02.

3. 

   

   Washer between the links, DU-TOOL-03 in the middle link, then press-fit.

1. 

   Insert DU-TOOL-02 into the DU-03-10 fingertip.
2. Place a washer on the opening, then the DU-03-02 rectangular link on top.
3. Align the holes.
4. Follow the press-fit procedure.

5. 

   Follow the same steps to attach DU-03-06, using DU-TOOL-01.

1. Attach DU-02-06 and secure it with an M1.6x3 countersunk screw.

1. 

   

   Encoder side: place DU-03-01 (4)(7) at the opening, add DU-TOOL-01.
2. Follow the press-fit protocol.

1. On the non-encoder side, press-fit DU-04-01 to DU-04-02 with a smooth top pin.
2. Use washers only between the pin and DU-04-02.
3. Then press-fit the encoder side with an adapter head pin.

1. Non-encoder side: press-fit DU-04-02's long thin end to DU-04-03.
2. Use a smooth top pin; repeat on the other side with an adapter head pin.

1. Join DU-04-03 to DU-04-04 with a smooth top pin, non-encoder side.

1. Repeat on the encoder side with adapter head pins.

1. Follow the thumb sensor assembly before attaching the thumb cover.

1. Insert the M2 nut, then attach the printed thumb cover.

1. Screw on the cover with an M2x5 socket cap screw.
2. Route the 102 mm ENC to SEN wire through the side hole.

1. Dab super glue onto the mini stands of the palm plate.
2. Align a palm sensor to the holes and press down.
3. Repeat steps 1 and 2 for the other palm sensor.
4. Place the wider ends of the sensors next to each other.

If you are using the tactile palm, screw it in with M2x6 screws.

1. Secure the standoff with an M3x8 countersunk screw.
2. Repeat on the other end of the palm plate for the second standoff.

1. Clean each knuckle hole with acetone and remove any grease.
2. Also clean the bottom knuckle plate (DU-01-03) with acetone.
3. Rub the surfaces with Scotch-Brite for 10 to 15 seconds.
4. Clean with acetone again.

1. Apply four dots of super glue on the knuckle surface.
2. Insert a 6.0 gauge pin through the hole.
3. Slide down a large washer, slowly twist, then apply pressure.
4. Let the glue dry for a minute; check the washer is centered.
5. Wipe off excess glue with acetone.
6. Flip the knuckle over and repeat steps 1 to 5.

1. Insert the gold donut (DU-01-05) onto the bottom plate.
2. Grease both washers.
3. Grease the gold donut.

1. Repeat the previous instructions on all other fingers.

1. Take the top knuckle plate (DU-01-04) and press down.

1. Lock the knuckle plates with M2x5 Phillips countersunk screws.

1. Ensure no gap is visible after screwing the plate.
2. Screw the plate to the standoffs with M3x12 countersunk screws.

Unscrew the two black screws and separate the top part of the sensor. Keep the two black screws, you will use them later.

Take out the wire that initially comes with the sensor.

Unscrew the silver screw on the top of the sensor chip. Use a 50 mm encoder-to-sensor wire and attach its white end to the sensor.

Place the chip on the metal fingertip by inserting the wire through the rectangular center hole first.

Use an M1.2 x 4 screw to fasten the sensor to the metal tip through the hole on the top, above where the wire comes out.

Using the black screws from step 1, insert the two screws through the metal fingertip holes to secure the sensor.

Cut the grip tape to 12 x 25 mm to fit the fingertip tactile sensor.

Take apart the sensor by following step 1 of the finger sensor assembly. Hold onto the cap of the sensor.

Replace the wire with a 102 mm encoder-to-sensor wire.

On the right-hand side of the sensor cap there is a rectangular hole where the wire goes through. Widen the hole using a Phillips screwdriver, just enough that the other end of the wire can slip through.

Attach the 102 mm encoder-to-sensor wire and put the black end through the cap.

Secure the cap using the two black screws from step 1.

Insert the sensor onto the thumb exoskeleton, then screw it in place with M1.6 x 4 socket head screws.

1. Press-fit the hard stops into the palm mount (DU-01-02).

1. Slide the palm mount into the palm plate and fasten it with four M2x6 hex screws.

1. Mount the camera mount on the back of the palm mount wall.

1. Install the OAK-1W camera on the lower end of the camera mount.

1. Place the neck band (neck holder) on your work surface.

1. Lower the adjustment neck into the band mount, so its prongs sit between the band prongs.

1. Slide the M5 hex nut into the hex pocket on the band mount. It does not need to turn.

1. Place the handle against the outer prong of the band mount.

1. Thread the M5×45 mm hex bolt through the handle and the prongs into the nut.

1. Slide the camera mount into the adjustment neck.

1. Press the upper 3 mm pin through the adjustment neck and the camera mount.

1. Press the lower 3 mm pin through the adjustment neck and the camera mount.

1. Set the OAK-D S2 camera on the front of the camera mount.

1. Fasten the camera with two M4×12 mm socket cap screws.

1. The neck mount is finished.

1. Place OIM-01 on your work surface.

1. Using an arbor press, press a 3×8 mm pin into OIM-01.

1. Lower the assembled X Hand onto OIM-01 until it is seated.

1. Apply blue Loctite to each screw.
2. Fasten the X Hand with eight M3×8 mm screws.
3. Tighten in a star pattern, following the numbered order in the second picture.

1. Using an arbor press, press the second 3×8 mm pin into the camera mount (OIM-03R, or OIM-03L for a left hand).

1. Slide the camera mount (OIM-03R or OIM-03L) onto OIM-01, over the first pin.

1. Fasten the mount with two M3×8 mm screws.

The X Hand is mounted on OIM-01 with the camera mount attached.