CleverHand is an open-source, modular hardware–software platform for Human–Machine Interfaces (HMI), designed to support high-quality biosignal acquisition and multimodal sensory feedback in research, education, and advanced prototyping.
The platform enables the acquisition of physiological signals (EMG, ECG, EEG, IMU, etc.) and the delivery of feedback (electrotactile, vibrotactile, visual), with a strong emphasis on modularity, reproducibility, and data quality.
CleverHand is not a closed product. It is an open infrastructure intended to be:
- built and modified by researchers,
- integrated into experimental systems,
- and reused across multiple projects without redesigning the stack each time.
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Open by design All hardware, firmware, and software are open-source. Users may self-manufacture modules or assemble them via standard PCBA services.
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Research-first, not consumer-first CleverHand prioritises signal integrity, timing control, and experimental flexibility over plug-and-play simplicity.
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Access without lock-in For users who do not want to manufacture hardware themselves, pre-assembled and tested modules may be offered as an access layer (shop), without restricting openness.
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Long-term maintainability Stable interfaces, documented modules, and explicit quality-control practices are preferred over rapid feature churn.
CleverHand devices are built by chaining small, specialised modules that share:
- a common electrical and communication interface,
- a unified firmware and data model,
- and a host-side software stack (GUI, LSL, Python, C++).
hardwareHardware design files (KiCad), manufacturing data, and module-level documentation.software
- 1 to 32 modules per device
- Sensor, feedback, communication, and interface modules can be freely combined
- Module addresses are inferred from physical position in the chain
- No hardcoded IDs or manual configuration
- Up to 4 kHz sampling rate
- 24-bit resolution (ADS1293 / ADS1298 based modules)
- Designed for EMG and other low-amplitude physiological signals
- Typical module size: 20 × 20 mm
- Integrated gold-plated electrode pads (e.g. 3 × 18 mm)
- Supports dense spatial sampling
- Wired: USB, Ethernet
- Wireless: Bluetooth, Wi-Fi (others possible depending on controller)
- Configuration GUI
- Real-time visualisation
- LSL streaming
- Python and C++ APIs
Details
Electromyography (EMG) provides a non-invasive way to measure muscle activation and is widely used in:
- human–machine interaction,
- prosthetics and assistive devices,
- rehabilitation and exoskeleton control,
- sports science and biomechanics.
Despite its importance, existing EMG systems often fall into two extremes:
- low-cost, low-performance wearable devices,
- or high-performance, high-cost laboratory systems with limited portability.
| Device | Price | Electrodes | Sampling rate | Resolution | Notes |
|---|---|---|---|---|---|
| Myo armband | ~200 $ | 8 bipolar | 200 Hz | 8-bit | Easy to use, discontinued |
| MyoWare | ~40 $ | 3 bipolar | 200 Hz | 10-bit | Suitable for prototyping only |
| Delsys Trigno Avanti | ~2000 $ | 16 bipolar | 2000 Hz | 16-bit | High quality, expensive |
| Device | Price | Channels | Sampling rate | Resolution |
|---|---|---|---|---|
| OT Sessanta Quattro | ~10 k$ | 64 | 2000 Hz | 24-bit |
| OT Muovi+ | ~25 k$ | 4×32 | 2000 Hz | 24-bit |
| OT Quattrocento | ~50 k$ | 382 | 2000 Hz | 24-bit |
CleverHand aims to bridge the gap between these categories by providing:
- modular, wearable, high-density EMG acquisition,
- research-grade signal quality,
- and a system that scales from small experiments to complex multi-site recordings.
Each EMG module integrates an ADS1293 or ADS1298 AFE, supporting 3–8 channels per module, sampled at 4 kHz / 24-bit. Multiple modules can be chained to increase spatial coverage.
Gold-plated electrode pads on the PCB can be used directly or adapted via interface boards (flex electrodes, snap connectors, jack connectors).
| Feature | Description |
|---|---|
| Visual feedback | RGB LEDs per module |
| IMU | Optional inertial sensing modules |
| Electrotactile | Optional stimulation modules |
| Vibrotactile | Optional actuator modules |
| Attachments | Bracelet, mesh, custom mounts |
| Interfaces | GUI, LSL, Python, C++ |
CleverHand is an active research platform. Interfaces and core architecture are stabilising, while individual modules continue to evolve.
Contributions are welcome in the form of:
- issues and bug reports,
- hardware or firmware improvements,
- documentation and experiments,
- or external use cases and feedback.
If you plan to use CleverHand in a study or project, citations and references are appreciated.
If you want next, I can:
- add a “Who should / should not use CleverHand” section,
- split this into a short README + extended docs index,
- or rewrite it again with a stronger academic / grant-proposal tone.