1 - Loading the program

Two methods are possible:

• Flash the Hackberry board with XLoader
• Flash the Hackberry board with PlatformIO

2 - Buttons operation

Hackberry Hand has four operational Buttons on the top :

They each have two possible behaviors, depending on the type of operation performed on them:

• Short press ( < 1 second)
• Long press ( > 5 seconds)

Lock Fingers

Short press Button 4 to block or unblock the movement of the last three fingers (middle, ring and ear)

Thumb Move

Short press Button 3 to open or close the thumb

Sensor Calibration

Long press Button 1 to start the Sensor Calibration Mode

Once started, the user must generate a muscular activity on the sensor for 10 seconds (make the movements necessary to open and close his prosthesis in particular).

After 10 seconds, the sensor will be calibrated and the hand will resume normal operation.

Servomotors Calibration

Long press Button 2 to start the Servomotors Calibration Mode

Once started, the user will have to use buttons 1,2 and 3 to define the stop positions of each of the motors.

In this mode, the button control is changed:

• Button 1 pressed : close the finger(s)
• Button 2 pressed : Validate and save the current position of the finger(s)
• Button 3 pressed : open the finger(s)

For each servomotor, the user will have to:

1. Place the finger(s) concerned in the open position
2. Validate
3. Place the finger(s) concerned in the closed position
4. Validate

Calibration order of the servomotors:

1. Thumb
2. Index
3. The other fingers (middle, ring and ear)

Once all stops have been defined, the hand will resume normal operation.

Change the direction of rotation of the servomotors

This allows you to change the orientation of the hand (Right hand to left hand, and vice versa) or change the operating logic of the hand (have a closed hand at rest, and an open hand during muscle contraction).

Long press Button 4 to reverse the direction of motor rotation.