There’s a mystique in old keyboard circles around the IBM Model M, the granddaddy of PC keyboards with those famous buckling spring key switches. The original Model M was a substantial affair with a sheet metal backplane that would probably serve well as a weapon in a zombie apocalypse and still allow writing a Hackaday piece afterward, but later on in the life of these ‘boards there was also a lighter version. The M2 as these models are dubbed has a few known problems, and [Anders Nielsen] scored one online that turned out to have dodgy capacitors. His video, below the break, takes us through the disassembly of his M2 and provides a relaxing tour of these not-quite-so-famous peripherals.

As you’d expect, three-decade-old plastic isn’t always in the best shape, so disassembly and unlatching all those little tabs has to be performed with care. The keys come off and the springs are on show, but we get a nasty shock when they all fall out of place as the top is removed. It appears the rookie mistake is to not turn the ‘board upside down before parting it. Replacing the caps is an easy process after all that, and we get a little dive into the 6805 processors used in model Ms.

If you have a model M of any description then you’re probably at home with the clack-clack-clack sound they make, but have you ever looked at its ancestor, the model F?

If you’ve ever bought a modchip that adds features to your game console, you might have noticed sanded-off IC markings, epoxy blobs, or just obscure chips with unknown source code. It’s ironic – these modchips are a shining example of hacking, and yet they don’t represent hacking culture one bit. Usually, they are more of a black box than the console they’re tapping into. This problem has plagued the original XBOX hacking community, having them rely on inconsistent suppliers of obscure boards that would regularly fall off the radar as each crucial part went to end of life. Now, a group of hackers have come up with a solution, and [Macho Nacho Productions] on YouTube tells us its story – it’s an open-source modchip with an open firmware, ModXO.

Like many modern modchips and adapters, ModXO is based on an RP2040, and it’s got a lot of potential – it already works for feeding a BIOS to your console, it’s quite easy to install, and it’s only going to get better. [Macho Nacho Productions] shows us the modchip install process in the video, tells us about the hackers involved, and gives us a sneak peek at the upcoming features, including, possibly, support for the Prometheos project that equips your Xbox with an entire service menu. Plus, with open-source firmware and hardware, you can add tons more flashy and useful stuff, like small LCD/OLED screens for status display and LED strips of all sorts!

If you’re looking to add a modchip to your OG XBOX, it looks like the proprietary options aren’t much worth considering anymore. XBOX hacking has a strong community behind it for historical reasons and has spawned entire projects like XBMC that outgrew the community. There’s even an amazing book about how its security got hacked. If you would like to read it, it’s free and worth your time. As for open-source modchips, they rule, and it’s not the first one we see [Macho Nacho Productions] tell us about – here’s an open GameCube modchip that shook the scene, also with a RP2040!

Did you know you can get a “smart bed” that tracks your sleep, breathing, heart rate, and even regulates the temperature of the mattress? No? Well, you can get root access to one, too, as [Dillan] shows, and if you’re lucky, find a phone-home backdoor-like connection. The backstory to this hack is pretty interesting, too!

You see, a Sleep Number bed requires a network connection for its smart features, with no local option offered. Not to worry — [Dillan] wrote a Homebridge plugin that’d talk the cloud API, so you could at least meaningfully work with the bed data. However, the plugin got popular, Sleep Number didn’t expect the API to be that popular. When they discovered the plugin, they asked that it be shut down. Tech-inclined customers are not to be discouraged, of course.

Taking a closer look at the hardware, [Dillan] found a UART connection and dumped the flash, then wrote an extensive tutorial on how to tap into your bed’s controller, which runs Linux, and add a service you can use locally to query bed data and control the bed – just like it should have been from the beginning. Aside from that, he’s found a way to connect this hub to a network without using Sleep Number’s tools, enabling fully featured third-party use – something that the company doesn’t seem to like. Another thing he’s found is a reverse SSH tunnel back into the Sleep Number network.

Now, it can be reasonable to have a phone-home tunnel, but that doesn’t mean you want it in your personal network, and it does expose a threat surface that might be exploited in the future, which is why you might want to know about it. Perhaps you’d like to use Bluetooth instead of WiFi. Having this local option is good for several reasons. For example, having your smart devices rely on the manufacturer’s server is a practice that regularly results in perma-bricked smart devices, though we’ve been seeing some examples of dedicated hackers bringing devices back to life. Thanks to this hack, once Sleep Number shutters, is bought out, or just wants to move on, their customers won’t be left with a suddenly dumbed-down bed they can no longer control.

[Header image courtesy of Sleep Number]

RoEx Automix lets you mix and master your audio tracks using AI. Users can use Automix for free but the tool runs on a credit system, and you only get 1 credit per month as a free user. In my opinion the pricing is a little expensive for what they offer, however you can always […]

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Over the last few years, it’s been increasingly common for concertgoers to be handed a light-up bracelet from PixMob that synchronizes with the others in the crowd to turn the entire audience into a music visualizer. They’re a clever way of enhancing the concert experience, but unfortunately, they don’t do anything once you leave the show. Or at least, that used to be the case.

We’ve seen efforts to reverse engineer the IR (and occasionally radio) signals that drive these PixMob devices, but since we checked in last it seems like things have gotten a lot easier for the home gamer. [David Pride] has recently posted a brief write-up that shows how quickly and easily it is to get these devices fired up using nothing more exotic than an Arduino, an IR LED, and an audio sensor module.

With the audio sensor module connected to the Arduino’s digital input and the IR LED wired to digital out, all you need to do is flash firmware to the board and start playing some beats. The source code [David] has provided is a a remixed version of what’s previously been published by [Carlos Ganoza], which, in this case, has been tweaked to make the lighting patterns less random.

Presumably, this is to make the devices behave more like they do during an actual concert, but since nobody at Hackaday is cool enough to have seen a live musical performance in the last decade, we’re not really sure. All we can say is that the effect looks pretty sweet in the demo video.

Back in 2019, we saw a teardown of an early PixMob device, and by 2022, the efforts to reverse engineer their IR control protocol were well underway. We’re glad to see things have progressed to the point that you can piece together a transmitter from what’s in the parts bin, as it means at least some of these devices will have a lifespan longer than a single concert.

So what if we’re halfway through 2024? People who needed to fidget all along still need something to do with their hands. So why not hand them a solution with your information on it?

Not only will this spin nicely, the spinning action will use magnets to energize PCB coils and light up LEDs for some persistence of vision action. Designing the PCB was easier than you might imagine thanks to KiMotor, a KiCad plugin to automate the design of parametric PCB motors.

Mechanical testing went pretty well with the bearings and magnets that [mulcmu] had on hand, along with a scrap PCB as the sacrifice. Although a bit difficult to hold, it spins okay with just the bearing and the shaft. Once the boards arrived, it was time to test the electrical side. So far, things are not looking good — [mulcmu] is only getting a few tens of mV out of the rectifier — but they aren’t giving up hope yet. We can’t wait to see this one in action!

Hurry! This is the last weekend to enter the 2024 Business Card Challenge! Technically you have until Tuesday, July 2nd, but you know what we mean. Show us what you’ve got!

[Poking Technology] doesn’t think much of his new smartwatch. It is, by his admission, the cheapest possible smartwatch, coming in at about $3. It has very few useful features but he has figured out how to port MicroPython to it, so for a wrist-mounted development board with BLE, it might be useful. You can check it out in the video below.

The first step is a teardown, which reveals surprisingly little on the inside. There’s a tiny battery, a few connections, a display, and a tiny CPU board. There are, luckily, a few test pads that let you get into the CPU. What do you get? A 24 MHz Telink CPU with 512k of flash and 16k of RAM, along with all the other hardware.

Of course, even if you just want a display with some smarts, $3 might be in your price range. The whole thing wound up taped down to a PCB. But the usual debugger didn’t want to connect. Grabbing an oscilloscope revealed that the output from the board had some level problems. He eventually wrote his own debugger interface using a Pi Pico.

He was able to find the onboard CPU’s development tools. The CPU claims to be proprietary but looks suspiciously like a slightly modified ARM. A short investigation shows that the object code is extremely similar to the ARM Thumb instruction set but with a few extra bits set and different mnemonics. But once you put Python on board, who really cares?

The only downside is that it doesn’t appear that the BLE is practically usable because of memory limitations. But there are still places you might use the little watch in a project.

If you want a smartwatch, maybe build your own. While many DIY watches are simple, you can get pretty complicated if you like.

It’s a great joke, and like all great jokes it makes you think. [Søren Fuglede Jørgensen] managed to cram a 15 M parameter large language model into a completely valid TrueType font: llama.ttf. Being an LLM-in-a-font means that it’ll do its magic across applications – in your photo editor as well as in your text editor.

What magic, we hear you ask? Say you have some text, written in some non-AI-enabled font. Highlight that, and swap over to llama.ttf. The first thing it does is to change all “o” characters to “ø”s, just like [Søren]’s parents did with his name. But the real magic comes when you type a length of exclamation points. In any normal font, they’re just exclamation points, but llama.ttf replaces them with the output of the TinyStories LLM, run locally in the font. Switching back to another font reveals them to be exclamation points after all. Bønkers!

This is all made possible by the HarfBuzz font extensions library. In the name of making custom ligatures and other text shaping possible, HarfBuzz allows fonts to contain Web Assembly code and runs it in a virtual machine at rendering time. This gives font designers the flexibility to render various Unicode combinations as unique glyphs, which is useful for languages like Persian. But it can just as well turn all “o”s into “ø”s or run all exclamation points through an LLM.

Something screams mischief about running arbitrary WASM while you type, but we remind you that since PostScript, font rendering engines have been able to run code in order to help with the formatting problem. This ability was inherited by PDF, and has kept malicious PDFs in the top-10 infiltration vectors for the last fifteen years. [Citation needed.] So if you can model a CPU in PDF, why not an LLM in TTF? Or a Pokemon clone in an OpenType font?

We don’t think [Søren] was making a security point here, we think he was just having fun. You can see how much fun in his video demo embedded below.

There’s no shortage of Geiger counter projects based on the old Soviet SBM-20 tube, it’s a classic circuit that’s easy enough even for a beginner to implement — so long as they don’t get bitten by the 400 volts going into the tube, that is. Toss in a microcontroller, and not only does that circuit get even easier to put together and tweak, but now the features and capabilities of the device are only limited by how much code you want to write.

Luckily for us, [Omar Khorshid] isn’t afraid of wrangling some 0s and 1s, and the result is the OpenRad project. In terms of hardware, it’s the standard SBM-20 circuit augmented with a LILYGO ESP32 development board that includes a TFT display. But where this one really shines is the firmware.

With the addition of a few hardware buttons, [Omar] was able to put together a very capable interface that runs locally on the device itself. In addition, the ESP32 serves up a web page that provides some impressive real-time data visualizations. It will even publish its data via MQTT if you want to plug it into your home automation system or other platform.

Between the project’s Hackaday.io page and GitHub repository, [Omar] has done a fantastic job of documenting the project so that others can recreate it. That includes providing the schematics, KiCad files, and Gerbers necessary to not only get the boards produced and assembled, but modified should you want to adapt the base OpenRad design.

This project reminds us of the uRADMonitor, which [Radu Motisan] first introduced in 2014 to bring radiation measuring to the masses. This sort of hardware has become far more accessible over the last decade, bringing the dream of a globally distributed citizen-operated network of radiation and environmental monitors much closer to reality.

Recently ESA published the results of a proof-of-concept study into monitoring marine litter using existing satellites, with promising results for the Mediterranean study area. For the study, six years of historical data from the Sentinel-2 satellite multispectral imaging  cameras were used, involving 300,000 images with a resolution of 10 meters. The focus was on litter windrows as common collections of litter like plastic, wood and other types of marine debris that float on the surface, forming clearly visible lines that can be meters wide and many times as long.

These were processed as explained in the open access paper in Nature Communications by [Andrés Cózar] and colleagues. As marine litter (ML) tends to be overwhelmingly composed of plastic, this eases the detection, as any ML that’s visible from space can generally be assumed to be primarily plastic litter. This was combined with the spectral profile of common plastics, so that other types of floating materials (algae, driftwood, seafoam, etc.) could be filtered out, leaving just the litter.

This revealed many of these short-lived litter windrows, with spot confirmation from ships in the area. Some of the windrows were many kilometers in length, with an average of around 1 km.

Although just a PoC, it nevertheless shows that monitoring such plastic debris from space is quite doable, even without dedicated satellites. As every day tons more plastics make their way into the oceans, this provides us with the means to at least keep track of the scope of the problem. Even if resolving it and the associated microplastics problem is still a far-off dream.

We’ve seen prolific firmware hacker [Aaron Christophel] tackle smart devices of all sorts, and he never fails to deliver. This time, he’s exploring a device that seems like it could have come from the pages of a Cyberpunk RPG manual — a shiny chrome Bluetooth Low Energy (BLE) smart ring that’s packed with sensors, is reasonably hacker friendly, and is currently selling for as little as $20.

The ring’s structure is simple — the outside is polished anodized metal, with the electronics and battery carefully laid out along the inside surface, complete with a magnetic charging port. It has a BLE-enabled MCU, a heartrate sensor, and an accelerometer. It’s not much, but you can do a lot with it, from the usual exercise and sleep tracking, to a tap-sensitive interface for anything you want to control from the palm of your hand. In the video’s comments, someone noted how a custom firmware for the ring could be used to detect seizures; a perfect example of how hacking such gadgets can bring someone a brighter future.

The ring manufacturer’s website provides firmware update images, and it turns out, you can upload your own firmware onto it over-the-air through BLE. There’s no signing, no encryption — this is a dream device for your purposes. Even better, the MCU is somewhat well-known. There’s an SDK, for a start, and a datasheet which describes all you would want to know, save for perhaps the tastiest features. It’s got 200 K of RAM, 512 K of flash, BLE library already in ROM, this ring gives you a lot to wield for how little space it all takes up. You can even get access to the chip’s Serial Wire Debug (SWD) pads, though you’ve got to scrape away some epoxy first.

As we’ve seen in the past, once [Aaron] starts hacking on these sort of devices, their popularity tends to skyrocket. We’d recommend ordering a couple now before sellers get wise and start raising prices. While we’ve seen hackers build their own smart rings before, it’s tricky business, and the end results usually have very limited capability. The potential for creating our own firmware for such an affordable and capable device is very exciting — watch this space!

We thank [linalinn] for sharing this with us!

[endes0] has been hacking with USB HID recently, and a Logitech M185 mouse’s USB receiver has fallen into their hands. Unlike many Logitech mice, this one doesn’t include a Unifying receiver, though it’s capable of pairing to one. Instead, it comes with a pre-paired CU0019 receiver that, it turns out, is based on a fairly obscure TC32 chipset by Telink, the kind we’ve seen in cheap smart wristbands. If you’re dealing with a similarly obscure MCU, how do you even proceed?

In this case, GitHub had a good few tools developed by other hackers earlier — a Ghidra integration, and a tool for working with the MCU using a USB-UART and a single resistor. Unfortunately, dumping memory through the MCU’s interface was unreliable and frustrating. So it was time to celebrate when fuzzing the HID endpoints uncovered a memory dump exploit, with the memory dumper code helpfully shared in the blog post.

From a memory dump, the exploration truly began — [endes0] uncovers a fair bit of dongle’s inner workings, including a guess on which project it was based on, and even a command putting the dongle into a debug mode where a TC32-compatible debugger puts this dongle fully under your control.

Yet another hands-on course on Ghidra, and a wonderful primer on mouse dongle hacking – after all, if you treat your mouse’s dongle as a development platform, you can easily do things like controlling a small quadcopter, or pair the dongle with a SNES gamepad, or build a nifty wearable.

Climbers care a lot about their ropes because their lives literally depend on them. And while there’s been tremendous progress in climbing rope tech since people first started falling onto hemp fibers, there are still accidents where rope failure is to blame.

This long, detailed, and interesting video from [Hard is Easy] follows him on a trip to the Mammut test labs to see what’s up with their relatively new abrasion-resistant rope. His visit was full of cool engineering test rigs that pushed the ropes to breaking in numerous ways. If you climb, though, be warned that some of the scenes are gut-wrenchingly fascinating, watching the ropes fail horribly in well-shot slow-mo.

Long story short, some climbing ropes are strong but stiff. These are called static ropes, and they’re rated to hold a given weight, and tested to breaking under a static load. The thinnest and strongest static ropes are made of Kevlar, and they are correspondingly very abrasion resistant, but they hurt to fall into.

Dynamic climbing ropes have some stretch, and are rated both for how gently they let you down and their maximum breaking force. These are mostly made of nylon, and they are tested by dropping a mass with an accelerometer onto a slack rope — a pretty good simulation of falling back off of a flat face like at the climbing gym.

Now what if you wanted an abrasion resistant dynamic rope? A couple of manufacturers have created custom Kevlar-nylon filaments where the Kevlar is wrapped loosely around the nylon. This filament is abrasion resistant because of the Kevlar, but gives like a nylon rope because the Kevlar fibers have slack built in.

Testing these ropes involved creating a custom test that drops a mass onto the rope, but pulls it across a 45-degree granite edge as it falls. These tests absolutely shred the normal nylon dynamic ropes, but the Kevlar-reinforced ropes held fast. They’re both fun and terrifying to watch.

We’ve said it before, and it’s said a number of times in this video: “you can’t improve what you can’t measure“. In this context, it’s a little sobering is that there isn’t an industry standard test for abrasion resistance, but it’s cool to see the Mammut folks working on it.

In the course of a career, you may run up against projects that get cancelled, especially those that are interesting, but deemed unprofitable in the eyes of the corporate overlords. Most people would move, but [Ron Avitzur] just couldn’t let it go.

In 1993, in the midst of the transition to PowerPC, [Avitzur]’s employer let him go as the project they were contracted to perform for Apple was canceled. He had been working on a graphing calculator to show off the capabilities of the new system. Finding his badge still allowed him access to the building, he “just kept showing up.”

[Avitzur] continued working until Apple Facilities caught onto his use of an abandoned office with another former contractor, [Greg Robbins], and their badges were removed from the system. Not the type to give up, they tailgated other engineers into the building to a different empty office to continue their work. (If you’ve read Kevin Mitnick‘s Ghost in the Wires, you’ll remember this is one of the most effective ways to gain unauthorized access to a building.)

We’ll let [Avitzur] tell you the rest, but suffice it to say, this story has a number of twists and turns to it. We suspect it certainly isn’t the typical way a piece of software gets included on the device from the factory.

Looking for more computing history? How about a short documentary on the Aiken computers, or a Hack Chat on how to preserve that history?

[Thanks to Stephen for the tip via the Retrocomputing Forum!]

One exciting feature of hardware development involving MCUs and FPGAs is that you all too often need specific tools to program them, with [Doug Brown] suffering a price tag aneurysm after checking the cost of an official Altera/Intel USB Blaster (yours for $300) to program a MAX 10 FPGA device with. This led him naturally down the path of exploring alternatives, with the $69 Terasic version rejected for ‘being too expensive’ and opting instead for the Waveshare USB Blaster V2, at a regretful $34. The amazing feature of this USB Blaster clone is that while it works perfectly fine under Windows, it works at most intermittently under Linux.

This led [Doug] down the path of reverse-engineering and diagnosing the problem, ultimately throwing in the towel and downclocking the Altera CPLD inside the adapter after finding that it was running a smidge faster than the usual 6 MHz. This was accomplished initially by wiring in an external MCU as a crude (and inaccurate) clock source, but will be replaced with a 12 MHz oscillator later on. Exactly why the problem only exists on Linux and not on Windows will remain a mystery, with Waveshare support also being clueless.

Undeterred, [Doug] then gambled on a $9 USB Blaster clone (pictured above), which turned out to be not only completely non-functional, but also caused an instant BSOD on Windows, presumably due to the faked FTDI USB functionality tripping up the Windows FTDI driver. This got fixed by flashing custom firmware by [Vladimir Duan] to the WCH CH552G-based board after some modifications shared in a project fork. This variety of clone adapters can have a range of MCUs inside, ranging from this WCH one to STM32 and PIC MCUs, with very similar labels on the case. While cracking one open we had lying around, we found a PIC18 inside, but if you end up with a CH552G-based one, this would appear to fully fix it. Which isn’t bad for the merest fraction of the official adapter.

Thanks to [mip] for the tip.

With all the EV hype in the air, you’d be forgiven for thinking electric vehicles are something new. But of course, EVs go way, way back, to the early 19th century by some reckonings. More recently but still pretty old-school were Ford’s Think line of NEVs, or neighborhood electric vehicles. These were commercially available in the early 2000s, and something like 7,200 of the slightly souped-up golf carts made it into retirement communities and gated neighborhoods.

But as Think aficionado [Hagan Walker] relates, the Achille’s heel of these quirky EVs was its instrument cluster, which had a nasty habit of going bad and taking the whole vehicle down with it, sometimes in flames. So he undertook the effort of completely reverse engineering the original cluster, with the goal of building a plug-in replacement.

The reverse engineering effort itself is pretty interesting, and worth a watch. The microcontroller seems to be the primary point of failure on the cluster, probably getting fried by some stray transients. Luckily, the microcontroller is still available, and swapping it out is pretty easy thanks to chunky early-2000s SMD components. Programming the MCU, however, is a little tricky. [Hagan] extracted the code from a working cluster and created a hex file, making it easy to flash the new MCU. He has a bunch of other videos, too, covering everything from basic diagnostics to lithium battery swaps for the original golf cart batteries that powered the vehicle.

True, there weren’t many of these EVs made, and fewer still are on the road today. But they’re not without their charm, and keeping the ones that are still around from becoming lawn ornaments — or worse — seems like a noble effort.

While 3D printers have evolved over the past two decades from novelties to powerful prototyping tools, the amount of support systems have advanced tremendously as well. From rudimentary software that required extensive manual input and offered limited design capabilities, there’s now user-friendly interfaces with more features than you could shake a stick at. Hardware support has become refined as well with plenty of options including lighting, ventilation, filament recycling, and tool changers. It’s possible to automate some of these subsystems as well like [Caelestis Workshop] has done with this relay control box.

This build specifically focuses on automating or remotely controlling the power, enclosure lighting, and the ventilation system of [Caelestis Workshop]’s 3D printer but was specifically designed to be scalable and support adding other features quickly. A large power supply is housed inside of a 3D printed enclosure along with a Raspberry Pi. The Pi controls four relays which are used to control these various pieces hardware along with the 3D printer. That’s not the only thing the Pi is responsible for, though. It’s also configured to run Octoprint, a piece of open-source software that adds web interfaces for 3D printers and allows their operation to be monitored and controlled remotely too.

With this setup properly configured, [Caelestis Workshop] can access their printer from essentially any PC, monitor their prints, and ensure that ventilation is running. Streamlining the print process is key to reducing the frustration of any 3D printer setup, and this build will go a long way to achieving a more stress-free environment. In case you missed it, we recently hosed a FLOSS Weekly episode talking about Octoprint itself which is worth a listen especially if you haven’t tried this piece of software out yet.

If there’s one thing we like better around here than old, obscure displays, it’s old, obscure displays with no documentation that need a healthy dose of reverse engineering before they can be put to use. These Plessey dot-matrix displays are a perfect example of that.

We’re not sure where [Michael] scored these displays, but they look fantastic. Each 8-pin DIP has two 5×7-matrix, high-visibility LED displays. They bear date codes from the late 80s under the part number, GPD340, but sadly, precious little data about them could be dredged up from the Interwebz. With 70 pixels and only six pins after accounting for power and ground, [Michael] figured there would be a serial protocol involved, but which pins?

He decided to brute-force the process of locating them, using a Pico to sequentially drive every combination while monitoring the current used with a current sensor. This paid off after only a few minutes, revealing that each character of the display has its own clock and data pins. The protocol is simple: pull the clock and data pins high then send 35 bits, which the display sorts out and lights the corresponding pixels. The video below shows a 12-character scrolling display in action.

Plessey made a lot of displays for military hardware, and these chunky little modules certainly have a martial air about them. Given that and the date code, these might have come from a Cold War-era bit of military hardware, like this Howitzer data display which sports another Plessey-made display.

Zero backlash, high “gear” reduction, high torque transparency, silent operation, and low cost. What is this miracle speed reduction technology, you ask? Well, it’s shoelaces and a bunch of 3D printed plastic, at least in [Aaed Musa]’s latest installment in his series on developing his own robot dog.

OK, the shoelaces were only used in the first proof of concept. [Aaed] shortly upgrades to steel cable, and finds out that steel fatigues and snaps after a few hours. He settles on Dyneema DM-20, a flexible yet non-stretching synthetic rope.

Before it’s all over, he got a five-bar linkage plotting with a pencil on the table and a quadriped leg jumping up and down on the table — to failure. All in all, it points to a great future, and we can’t wait to see the dog-bot that’s going to come out of this.

There’s nothing secret about using capstan drives, but we often wonder why we don’t see cable-powered robotics used more in the hacker world. [Aaed] makes the case that it pairs better with 3D printing than gears, where the surface irregularities really bind. If you want to get a jumpstart, the test fixture that he’s using is available on GitHub.

If you want to learn more about capstan drives, you absolutely need to check out our own [Sonya Vasquez]’s Cable Mechanism Maths. She brought some demos of her gear reduction mechanisms to Supercon, and they just feel like butter. (If I were a robot, that’s how I’d want my knees to feel.)