iCubLisbona01 – Left hand - fingers abduction does not move

[plinioMoreno]

Device name 🤖

iCubLisboa01

Request/Failure description

The left hand fingers abduction joint (l_hand_finger) does not move after starting the robot. If we try to move the motor on yarpmotorgui the motor does not move, stays at the same location.

Detailed context

The following video shows the yarpmotorgui screen:

20221205_175204.mp4

The log from yarprobotinterface as follows:

log_icub-head_yarprobotinterface_3000.txt

Please ignore the errors from the right arm, which are part of other issue.

Additional context

No response

How does it affect you?

We cannot run grasping experiments with the hands.

[plinioMoreno]

Hi @AntonioConsilvio,

We removed the cover of the left hand to see if there was something wrong with this joint. After placing the hand cover back, now the joint (l_hand_finger) goes to fault during startup. The log from yarprobotinterface as follows:

log_icub-head_yarprobotinterface_3279.txt

Let us know how to fix this problem.

cc @Ryo-Naohara

[AntonioConsilvio]

Hi @plinioMoreno, to see if the problem is similar to the one you had with joint 6, you should do the same things as the other issue. So try to manually move joint 7 and check on 'yarpmotorgui' if the encoder value changes.

cc @Fabrizio69

[plinioMoreno]

Hi @AntonioConsilvio, we set the l_hand_finger in idle and the encoder values do change, but between -25 (open fingers) and 45 (closed fingers). We checked on the right hand for the same joint, and the values change between 5 (open fingers) and 50 (closed fingers).

And when we command the joint to move, the joint does not move at all, even when the robot starts correctly.

[AntonioConsilvio]

Hi @plinioMoreno, ok this shouldn't be an electrical problem.
So, try to remove the back of the hand and with a slotted screwdriver try to manually move the motor (green, in the photo below).

If, when you move the motor with the screwdriver, fingers don't move it means there is a problem with the steel cable (whose condition you can check by following the blue arrow in the picture above) or with the motor.

cc @Fabrizio69

[plinioMoreno]

Hi @AntonioConsilvio, this is the video that shows that the fingers move correctly.

20221216_133909.mp4

It seems that the cable is fine. However, we still have the behavior described here

[AntonioConsilvio]

Hi @plinioMoreno, I am not sure about the cause of the problem, but you can try checking the connection of the Hall sensor (located above the little finger, blue), whose cable (orange) go to the EB24 board (green).

(The photo above is only for visual inspection, do not touch these cables if they appear as in the photo above)

To find the cable, you need to check the colored cubes on the cable and find the cable called 2M3. The EB24 board is the first of the three board present in the left arm.

Write to us if you have any questions.

cc @Fabrizio69

[plinioMoreno]

Hi @AntonioConsilvio, we checked continuity for the cables that go from the Hall sensor and everything is fine. I wonder if we can schedule a remote session where you see live what is happening. 30 minutes should be enough to see, let us know your availability.

cc @Ryo-Naohara

[AntonioConsilvio]

Hi @plinioMoreno, I propose to schedule a videocall on Monday, January 23 at 10:00 a.m. in your time zone.

Are you available on this date?

cc @Fabrizio69

[plinioMoreno]

Hi @AntonioConsilvio, that sounds good. I confirm that @Ryo-Naohara is available to talk with you on the coming monday. Do we need to setup something on our icub laptop?

[AntonioConsilvio]

Do we need to setup something on our icub laptop?

@plinioMoreno This should not be necessary, just have the laptop ready to start the robot. I suggest keeping the back of the robot's hand and the left upper-arm cover open.

[AntonioConsilvio]

Hi @plinioMoreno, after the video call we suspect that the motor needs to be replaced.
So, analyzing the situation, and the other numerous problems found on the left hand, we wanted to propose that you send us the robot arm so that we can fix all the problems present on the hand.

If you agree, I will show you how to separate the arm from the robot.

cc @Fabrizio69

[plinioMoreno]

Hi @AntonioConsilvio,

Do we have to remove the full arm? Or just the forearm? I am asking this because we also found some missing tactile information on the right hand.

[AntonioConsilvio]

@plinioMoreno I'm sorry, I didn't understand correctly. You should send us the forearm by removing these 3 (red) screws.

But, we also need the electronics boards, so you should also remove those 4 screws (red in the photo below) and remove some connectors from the electronics boards. I can tell you which connectors if you want to send us the left forearm.

However, I did not understand why you are talking about the right hand, do you have problems with the right hand as well? If you have problems with it, what problems do you have? Perhaps you were thinking of sending us the right arm as well?

Finally, I did not understand whether you agree to send us the left forearm or not.

Basically, I would need more precise information. Thank you.

cc @Fabrizio69

[plinioMoreno]

Hi @AntonioConsilvio,

Sorry for the multiple information. Regarding the right hand, yes, we are having problems with the taxels of the thumb, where the values do not change in the skinGui. Ryo will open an issue to see if we solve that problem with your help.

Regarding the left hand/arm, we agree with sending you the arm during next week. We will remove the arm and send it to you.

[AntonioConsilvio]

Hi @plinioMoreno, before activating shipping, perhaps it may be helpful to know the right arm problem, to see if it may be smart to send us both front arms, or if the right arm problem can be solved with remote support.

cc @Fabrizio69

[plinioMoreno]

Hi @AntonioConsilvio,

The right hand problem is described in this issue.

[plinioMoreno]

Hi @AntonioConsilvio, after the final diagnostic of the right hand here, we are going to send just the left arm. @Ryo-Naohara unmounted the arm and we are ready to send it to you. Do you want to send the address and sender info please?

[andreaderito]

Hi @plinioMoreno the address where to send the parcel is:
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 @Fabrizio69 @AntonioConsilvio @maggia80

[plinioMoreno]

I do not have tracking number info, but this is the picture:

[andreaderito]

Hi Plinio, we received it - in the next day (or days, as soon as my colleagues are available), we'll open it and start working on it. Thanks!
cc @Fabrizio69 @maggia80 @AntonioConsilvio

[plinioMoreno]

Hi @andreaderito,

Good that arrived safely, and thanks for letting us know!

[AntonioConsilvio]

Hi @plinioMoreno, we opened the package and we noticed that the directions given in this comment were not followed.

It means that we haven't the electronics boards and that the pronosupination mechanism was split in half.

It create two problems:

1. After the interventions, we cannot fully test the whole assembly, but only partially because we haven't the electronics boards.
2. The way the pronosupination mechanism was disassembled was not according to the instructions provided, so the harmonic drive was damaged, and it needs to be replaced.

We show an example of a our ForeArm:

Your ForeArm shows like this:

So We need this mechanical part (RED in the photo below) that you should have. Because we have to change the harmonic drive and riassemble the Pronosupination mechanism.

Since you will send this mechanical part, you should also send the electrical boards, the following the instructions in this comment.

If the instructions are not clear or if you have any question, please write us.

cc @sgiraz @Fabrizio69 @maggia80

[plinioMoreno]

Hi @AntonioConsilvio,

First, we are sorry for the misunderstanding. By mistake @Ryo-Naohara thought that the screws to be removed are the ones marked with black circles:

We want to double check with you that the missing parts are the ones in the picture above (control boards EB24,EB25 and EB26). Then, we will let you know when the package is sent.

Also we want to understand why the harmonic drive got damaged, since all the parts seemed to be okay when removed.

[AntonioConsilvio]

@plinioMoreno, Yes, the electronics boards are the ones in your photo.

Regarding the harmonic transmission, the Pronosupination mechanism has a specific sequence of assembly. So, consequently, it has a specific sequence of disassembly and in that sequence that mechanical part is the last one that has to be removed.

So, probably the harmonic transmission is probably damaged (we hope not) and to verify that we need that part, because even if it is not visibly damaged, we need to verify it to be sure.

cc @Fabrizio69 @sgiraz

[AntonioConsilvio]

@plinioMoreno, one more thing. The electronics board was attached on a steel support. This support is attached to the left arm with these four screws (in red in the picture below).

Since you have to do an other shipment, we would like to have this support. It is not needed for testing, but it is useful when we ship the ForeArm to you, because it will be easier to mount the boards since those 4 screws will be enough without touch electrical cables.

If you have any question, please write us.

cc @sgiraz @Fabrizio69

[Ryo-Naohara]

@AntonioConsilvio, is this the steel plate?

[AntonioConsilvio]

@Ryo-Naohara, Yes it is the steel plate

[plinioMoreno]

Hi @andreaderito and @AntonioConsilvio,

The missing parts of the left arm, control boards and steel plate were shipped yesterday through DHL. @andreaderito should have received an email, and the small box should arrive today to your facilities.

[andreaderito]

Hi @plinioMoreno thanks, we'll inform you when the parcel arrives (no email up to now, but absolutely no problem, we know the parcel is about to arrive so we just wait for it - thx).
cc @AntonioConsilvio

[GiacomoVassallo13]

Good morning. the abduction joint motor was replaced and the tendon rewired. Once reconnected it will be electrically tested.

cc: @sgiraz @Fabrizio69 @AntonioConsilvio

[AntonioConsilvio]

Hi @andreaderito @plinioMoreno, the parcel has arrived and, at first glance, everything looks fine.

cc @sgiraz @Fabrizio69

[sgiraz]

Hi @plinioMoreno,

⚙️ Maintenance

We finalized all the activities on the left hand of iCubLisbona01. Check out the video below to see it in action:

Startup	Adduction
Start-up.mp4	Adduzione.mp4

Skin test
SkinTest.mp4

---

📦 Shipment

As soon as it is shipped, you will receive the following package:

Left hand	Fingertips + Spare wire	Full package

Note
We send two fingertips for the thumb of the right hand. One needed to replace the damaged one, and another as a spare.

Also, you will notice that there are already soldered wires on the fingertips.

You must desolder them before mounting the fingertip on the robot finger.

[sgiraz]

I leave this issue in review for a while.

@plinioMoreno let us know when you received the package.

cc @AntonioConsilvio @GiacomoVassallo13 @Fabrizio69

[andreaderito]

Hi @plinioMoreno I've acted so as to ask for the Documento di Trasporto (DDT, valid only in Italy) and also prepared the Packing List with the value of the goods (this file is already finalised, so pls find it here since now in case you wish starting preparing the insurance coverage of the goods). The goods will be ready for pick up since next Tuesday, May 16th, 2023 at 08.30 from the address of IIT Central Warehouse i.e. IIT - Via Morego 30, 16163 Genoa, Italy. Pls let us know when the goods arrive at your premises so we relax a bit - best, Andrea

PACKING LIST (DETAILED_LIST_OF_GOODS)_v1_DEF.pdf

cc @sgiraz @AntonioConsilvio @Fabrizio69 @maggia80

[plinioMoreno]

@sgiraz ,thank you for the pictures and the videos. From them I see that everything looks good, thanks!

@andreaderito, if we want to do the insurance, how shall we proceed?

[andreaderito]

Hi @plinioMoreno normally you may select this option when you book the express courier (DHL or similar, pls check with your admin if they know how to do it - otherwise pls let me know, best

[andreaderito]

Hi @plinioMoreno a small but important errata corrige: you may book the pick up of the goods starting from Thursday 18th morning (not from today, sorry). The pick up address is IIT Central Warehouse, Via Morego 30, 16163 Genoa, Italy (no change in respect to what indicated before). Best.
cc @Miche19

[AntonioConsilvio]

Hi @plinioMoreno, remember to update the robots-configuration files because I updated the calibration of some joints after the maintenance service.

• [iCubLisboa01] New calibration for left forearm robots-configuration#501

cc @sgiraz

[plinioMoreno]

We put the left arm back and everything is working as expected. Thanks @AntonioConsilvio for the reminder on the configuration files. From our side, this issue can be closed.

Also thanks to all the people involved in the repair.