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Media

Everything on this page is labelled with where it came from: the bench or the simulation.

From the bench

A double-stroke exercise at 260 BPM

Bench, 5 October 2026. Both hands, ending on a rim shot: 49 of 49 notes, onset scatter 3.3 ms.
A double-stroke roll, 120 to 260 BPM

Bench, 5 October 2026. 49 of 49 notes, onset scatter 4.5 ms, opening with the first pulled double played on hardware.

I'll add video after the next bench session: a wide shot and a high-speed close-up of a double stroke.

From the simulation

Two simulated sticks playing an open roll, right right left left, on a snare drum — Simulation, August 2026. An early MuJoCo model playing an open roll on two sticks with modelled hoverboard motors. I used it to check the motors were strong enough before building the hands. The model has been recalibrated from the bench since.

Firmware diagrams

Diagram of the firmware at a glance: the Teensy's stroke code, the ODrive and the finger drivers — The firmware at a glance.

Diagram of the seven phases of one stroke in the stroke state machine — The seven phases of a stroke.

Diagram of the layers of protection between a command and a motor — The layers of protection between a command and a motor.