iCubShanghai01 S/N:049 – pinkie finger of left arm wiring broken and index finger touch skin signal line detach from the pcb

[jimingda]

Robot Name 🤖

iCubShanghai01 S/N:049

Request/Failure description

Hi, the end wire of pinkie finger of left arm is broken, as showed in pic below. I think its a big problem, after checked the below instructions, it seems a complicated one. My another concern is that will this infect the motion of other fingers on left arm? I am not sure if other fingers are normal, but from the appearance they are ok.

https://icub-tech-iit.github.io/documentation/icub_tendons/lower_arm_V2/

Detailed context

As for touch signal line of finger index of left arm, as showed, maybe it's easier to handle, like welding it back to the pcb.

Additional context

No response

How does it affect you?

No response

[sgiraz]

Hi @jimingda,

Hi, the end wire of pinkie finger of left arm is broken, as showed in pic below. I think its a big problem, after checked the below instructions, it seems a complicated one.

The tendons of the fingers are the most challenging part to repair or replace. If you agree, I would recommend that you send us the left lower arm of the robot so that we can fix all of the problems mentioned above (see the instructions below to remove the forearm from the robot).

My another concern is that will this infect the motion of other fingers on left arm?

The pinky joint couples the little finger and the ring finger. All the other fingers should work independently.

---

How to remove the forearm from iCub 2.7

1. Remove the upper arm covers.

2. Remove the 4 screws (circled in red) of the steel support with the electronics board (we need the electronics).

3. Remove the following 3 screws (circled in red):

4. Detach all the connectors that connect the left lower arm with the left upper arm

---

Important Before shipping, make sure that the unmounted lower arm looks like the following:

cc @AntonioConsilvio @Fabrizio69 @GiacomoVassallo13

[jimingda]

Thanks @sgiraz for your detailed instructions.

1. Remove the upper arm covers. As my picture of upper arm cover, there are two kinds of screws, small ones and bigger ones. From my understanding, the first step is removing the small screws to unmount the skin, and second step is to remove the bigger screws and then unmount the cover?

Could you provide the recipient information if we succeed to unmount the left lower arm and send it to you.

[sgiraz]

From my understanding, the first step is removing the small screws to unmount the skin, and second step is to remove the bigger screws and then unmount the cover?

Exactly! Remove the small screws on the skins and then the bigger one on the cover. After that, be careful detaching the connector connected to the (mtb4) boards placed internally to the cover.

Could you provide the recipient information if we succeed to unmount the left lower arm and send it to you.

IIT - Istituto Italiano di Tecnologia Via Morego 30 I-16163 Genoa, ITALY Att.n: Fabrizio Larosa (iCub Tech, CIRS) Phone: +39 010 28 98 223

IMPORTANT: please safely pack the goods using the maximum care to absorb shocks. If possible, indicate "fragile" on the parcel. As soon as you have a tracking number, pls let us know it so we may follow the shipping. If possible, ensure the goods with the shipping company - indicative (reasonable) values you may put 30keur for 1 lower-arm (forearm, wrist and hand altogether). If you need further info, pls let me know.

cc @andreaderito @Fabrizio69 @maggia80

[jimingda]

Thanks @sgiraz

Shall i need to unscrew these internal screws? And need i remove the cover of these touch sensors before unmount the plastic cover below the touch sensor.

I found these touch sonsors are connected to the board, is there any document about these connections, so i can take care when remove them.

[sgiraz]

Shall i need to unscrew these internal screws? And need i remove the cover of these touch sensors before unmount the plastic cover below the touch sensor.

Yes! Remove the 4 screws shown in the picture and leave the touch sensors in place on the cover. On the internal side of the cover, you'll find several mtb4 boards. To disconnect the mtb4 board from the mc4plus eb24 board, simply detach the Molex CAN connectors located on the side of the mc4plus eb24 boards.

Important Take note of all the connections removed from the mc4plus boards in order to be able to re-mount everything correctly once the forearm is repaired. Every connection is labeled with a label and they can also be found at https://github.com/icub-tech-iit/electronics-wiring-public/blob/master/icub2.7/pdf/iCub2.7_E3.6.3_14838_Logic.pdf (see pages 1 and 6)

I found these touch sonsors are connected to the board, is there any document about these connections, so i can take care when remove them.

⚠️ Do not remove the touch sensors from the cover. It is not necessary and they are very fragile.

Let me know if you need further support!

[jimingda]

After remove the 4 screws of the LA4 in the pic above, i can see three different connectors on board of the back side surface of LA4. And i also find LA0 as showed in the pic below, so i also need to remove the screws in LA0?

[jimingda]

After remove the single screw on LA0, i unmount the two covers of upper arm. From my understanding, what to do next is

1. Disconnect the black line connectors to the touch sensor board in the pic below.

3. remove the 4 screws on the mental board in the pic below.

4. Then the upper and lower arms can be separated

[jimingda]

As the instruction in https://github.com/robotology/icub-tech-support/issues/1627#issuecomment-1713425259

I succeed to

1. Remove the upper arm covers.
2. Remove the 4 screws (circled in red) of the steel support with the electronics board (we need the electronics).

Still there are 3 connectors that connect the left lower arm with the left upper arm as showed in the pic below, two of them are labeled E1 & E26, the last one labeled 12VA, which connected to EB24 EB25 EB26 seperatly and a big capacitor binded in the steel support. Shall i disconnect these three connections, including disconnect the capacitor?

[jimingda]

Hi @sgiraz

Follow the instructions i unmounted the left lower arm as showed below, could you help to check it please?

Thanks in advance.

[sgiraz]

Hi @jimingda,

That looks good! 👍🏻 Feel free to prepare the package for the shipment of the forearms.

Important Before the shipment, we have to estimate the costs for the maintenance intervention. Please, wait for our proposal and confirmation before proceeding with the shipment.

@andrederito is the person in charge of preparing the quotation - pls be so kind as to pack the goods and communicate this issue:

1. Dimensions and weight (also indicative) of the parcel
2. Exact address of the pick up of the goods
3. One or 2 reference persons at the pick-up (complete address + email address + office telephone number, possibly mobile - thx
4. If there are any traffic restrictions useful to know for express courier, just tell me.

If there are any traffic restrictions useful to know for express courier, just tell him.

cc @andreaderito @maggia80 @Fabrizio69

[jimingda]

Hi @sgiraz Could you provide the email address of @Fabrizio69 Thanks.

1. The weight and dimensions of the parcel: 1.6kg and 0.35m0.25m0.15m.
2. My address to pick up the goods: Room 2214, Main Building, East Guanghua Building No 30 Handan Road, Fudan University 200433 Yangpu District, Shanghai, China Contact: Mingda Ji Phone: +86 188 0196 7350 email: [email protected]

[sgiraz]

Hi @jimingda,

Thank you for the parcel information. The person who will help you with the shipment is @andreaderito. Feel free to contact him at [email protected]

cc @Fabrizio69

[andreaderito]

Hi @jimingda I confirm having taken this in charge - we continue this via e-mail exchange between me and you. Thank you for cooperating

[jimingda]

Hi, @Nicogene

Yesterday, we managed to replace the stainless steel micro-cable of pinky finger, with a new one with diameter 0.6mm, the nearest size we can bought in China compared to 0.63, mainly by a experienced mechanical engineer from icub-agent. We also soldered the detached signal wires on the end board of pinky finger, then mounted the left lower arm back on icub body.

We test the iCubStartup demo, after we adjusted the zero point of left hand by adjusting the screws at the end of the motor as the pic below, then finger linear motor travel matches the expected as well as the right hand.

My another question is how to ensure the the boards on arm like eb24 eb25 eb26 connected and works well as before, is there any method or tool to check it?

P.S. We measure the original stainless steel micro-cable of icub's hand, the diameter is 0.6mm rather than the description 0.63mm, also we want to know where you buy these cables or the brand of cable, because the cable we bought is slghtly different from original one in texture.

[jimingda]

Hi @sgiraz

It seems that the left hand didn't finish the calibration, because when i finished the iCubStartup demo, the left hand fingers didn't work well as right hand, and the final state of left hand as below:

The situation seems similar to another issue

[sgiraz]

Hi @jimingda,

My another question is how to ensure the the boards on arm like eb24 eb25 eb26 connected and works well as before, is there any method or tool to check it?

You can check them using the FirmwareUpdater application.

It seems that the left hand didn't finish the calibration, because when i finished the iCubStartup demo, the left hand fingers didn't work well as right hand, and the final state of left hand as below:

We appreciate your effort in repairing the forearm. However, based on our experience, we recommend proceeding with the shipment of the forearm we initially planned.

[!Important] Due to the shipment requirements, we would ask you to re-pack the forearm maintaining the same weight and dimensions as before.

cc @andreaderito @AntonioConsilvio @Fabrizio69 @maggia80

[jimingda]

Thanks @sgiraz

Recently I can't contact @andreaderito , i will try to contact him later today.

[andreaderito]

Hi @jimingda thank you for your patience, today I'll send you the draft of the documents needed from your side to accompany the parcel. cc @sgiraz

[jimingda]

Hi @sgiraz

Is it possible for us to calibrate the left hand on our own? We are uncertain about the typical duration for shipping and repairing the forearm. Can you provide more details based on previous experience?

Thanks in advance.

[sgiraz]

Is it possible for us to calibrate the left hand on our own? We are uncertain about the typical duration for shipping and repairing the forearm. Can you provide more details based on previous experience

Hi @jimingda,

Normally after the repair, you shouldn't need to re-calibrate the joint. We understand that you're having trouble calibrating the left-hand and are unsure about the shipping and repair process. Troubleshooting complex electrical/mechanical issues remotely can be challenging, as there might be a variety of underlying causes that require physical inspection and manipulation ( (connectors not properly connected, broken wires, damaged boards, etc...). To ensure that your left-hand returns to its optimal functionality as quickly as possible, we recommend that you proceed with the shipment for repair.

Based on our previous experience, the average time for repairing a forearm is typically between 1-2 weeks. However, the specific timeframe may vary depending on the severity of the issue and the availability of replacement parts. @andreaderito may provide you with further details about the shipping time.

cc @Fabrizio69 @GiacomoVassallo13 @AntonioConsilvio

[andreaderito]

Hi @jimingda concerning the shipping time, according to experience and also according to Shipping Company's indications:

0. Pick-up of the package (T0)
1. transit time 3-5 days
2. Customs' clearance (goods-in in temporary regime) Italian side: 2-4 days
3. Repair intervention - 5 - 10 days (i.e. 1-2 weeks, ref. @sgiraz ' s comment above)
4. Customs' clearance (goods out in temporary regime) Italian side: 2 days
5. transit time 3-5 days
6. Custom's clearance Chinese side: 3 - 4 days
7. T1 = Delivery at your premises: 1 day after clearance

So, in total, from T0 (day when the package is picked up from your lab) to T1 the time span is estimated between min. 19 max. 29 working days. We understand it is not short time, but all considered, and according to our decennial experience on iCub in all its versions from 15+ years ago till now, this is the best & most advisable way to proceed. From our side, the contract with the shipping company for this shipping and for the management of the temporary import-export operation both China and Italy sides has been agreed, so now they will check the documents with both Customs Italy and China and I expect that during this week we may have the pick-up of the goods (i.e., T0). cc @sgiraz @maggia80 @Fabrizio69 @GiacomoVassallo13 @AntonioConsilvio

[andreaderito]

Hi @jimingda just to update you - we've passed all docs to the Shipping Company for their check with Customs both ITA and China sides so to smooth the shipping process and the temporary import-export operation - expected feedback in 24-48 hours, they said. Till soon for updates. cc @sgiraz @maggia80 @Fabrizio69 @GiacomoVassallo13 @AntonioConsilvio

[andreaderito]

Dear @jimingda just to update you, on Friday 15.12.2023 the Shipping Company (Italy side) gave OK to proceed to their colleagues in Shanghai, so I expect that they will contact you in short time to agree on finalisation of the shipping documents (packing list and proforma invoice) and to agree on date&time for the pick-up. cc @sgiraz @maggia80 @Fabrizio69 @GiacomoVassallo13 @AntonioConsilvio

[jimingda]

Hi @andreaderito

The company dealing with customs affairs is responsible for exporting and importing the iCub robot as well as the lower arm. They are requesting your confirmation of the repair agreement, which would be helpful.

Could you pls check the email, if it's ok, sign the printed document, and send back a scanned copy with your signature.

Thanks again.

[andreaderito]

Dear @jimingda, yes, indeed there was an email dated yesterday in my junk box, now I recovered it - I confirm that I've passed the proposed Repair Contract to the 2 competent offices, 1 has already expressed OK but the second is still evaluating the document (it was Christmas & New Year holiday period so personnel was reduced). I'll update you asap. Thank you

[jimingda]

Hi @andreaderito Is there any update on this issue?

[andreaderito]

Hi @jimingda yes, we've just received the final OK to the document you proposed, I'm going to contact you via email for details

[jimingda]

Hi @andreaderito

Have you received the pack? I guess that the lower arm has been transfered to IIT.

[andreaderito]

Hi @jimingda yes, today I received information that parcel has arrived to Genoa, now we will proceed with the Customs documents and operations - we will update you as soon as the parcel is delivered to our premises - best regards

[andreaderito]

Hi @jimingda we are processing the temporary import and IIT is about to pay the deposit of the requested money to the Italian Customs Office in order to grant for the temporariness of the import - my Central Offices say we should be able to receive the parcel within this week or max. beginning of next week - I'll update you - best regards