Firmware Version Update Log

v0.0.11 (2025-06-03)

New feature

None

Optimization and Repair

1. Adjust the finger stroke based on the DV prototype, leaving 3° at the beginning and end to prevent locking; the available stroke for users:
   • thumb_flex：59°
   • thumb_aux：90°
   • index：81°
   • middle：81°
   • ring：81°
   • pinky：81°
2. Optimize the position of internal gesturesOptimize the position of internal gestures

v0.0.10 (2025-05-13)

New features

include adding backlight, buzzer, and vibration motor switch, which can be controlled via protocol.

Optimization and Repair

1. Fixed the shaking issue of the thumb root motor movement.
2. Fixed the occasional misalignment issue during power-on reset.
3. Optimized the interruption issue during reset.
4. Optimized the starting current for position control (limiting the PWM duty cycle to 60% during stationary startup).
5. Optimized the reverse braking current when the position control is in place (the PID controller limits the PWM duty cycle to 50% for reverse braking).
6. Optimized the position of the internal gesture.

v0.0.9 (2025-04-29)

New Features

1. Added end stroke protection (thumb tip protection stroke 5°, others 3°)
2. Added long press for 5 seconds to restore factory settings and restart the system:

• Default ID: Left hand → restore to 0x7E (126); Right hand → restore to 0x7F (127)
• RS485 baud rate: restore to 460800 bps - CAN FD baud rate: restore to 5 Mbps

3. Increased the precision of physical quantity mode control parameters to 0.1°
4. Modified manual zero return to short press button

Optimization and Fixes

1. Optimize the duty cycle of power-on reset, time-scheduled power-on, to reduce current peak values.
2. Fix the frame length issue of canfd data frames.
3. Fix the issue with reporting motor status.
4. Optimize the thumb tip travel (the previous version defined thumb travel greater than the actual travel).

v0.0.8 (2025-04-14)

New Features

Added RS485 communication at 1M, 2M, and 5M

Optimizations and Fixes

1. Fixed the whistling issue with current-controlled motors
2. Fixed issues with action sequences
3. Fixed the clicking noise issue with speed-controlled motors
4. Fixed the SN length issue### Defect Tracking- Obtaining motor status will retain the last status, not the current status.

Undeveloped Features

• Motor self-diagnosis function (speed too fast, current too high, not rotating) [Power-on self-test, self-test options]

v0.0.7 (2025-04-09)

New Features

1. Added automatic recognition for left and right hands
2. Added factory reset
3. Added configuration for finger protection current
4. Added default recovery for built-in fingers
5. Added fast position control mode6. Added configuration for thumb Aux lock current

Optimization and Fixes

1. Known control issues
2. Fixed action sequence storage issue

Known Defects and Undeveloped Features

Defect Tracking

• The motor status retrieved will retain the last status, not the current status.

Undeveloped Features

• Motor self-check function (too fast rotation, excessive current, not rotating) [Power-on self-check, self-check options]

v0.0.2 (2025-03-21)

New Features

1. Built-in gesture and action sequence functionality

Optimizations and Fixes

1. Fixed position speed mode
2. Fixed action sequence storage issue

v0.0.1 (2025-03-19)

Initial version

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Document Revision History

• 2025-03-19: Initial release（v0.0.1）
• 2025-03-21: Release（v0.0.2）
• 2025-04-09: Release（v0.0.7）
• 2025-04-14: Release（v0.0.8）
• 2025-04-29: Release（v0.0.9）
• 2025-05-13: Release（v0.0.10）
• 2025-06-03: Release（v0.0.11）