CIS Anthropomorphic CIS Anthropomorphic HandHand

Team Members:Team Members:

Tom Billings, Mike Stock, Scott Shugh, Tom Billings, Mike Stock, Scott Shugh, Ananya Majumder, Kit BuckleyAnanya Majumder, Kit Buckley

ControlControl

Successfully loaded code to the Successfully loaded code to the microcontroller and debugged.microcontroller and debugged.Project Board solved earlier issue with product Project Board solved earlier issue with product

glitch.glitch.Successfully connected and ran the stepper Successfully connected and ran the stepper

motor with a function generator.motor with a function generator.Verified driver card functioned properly (12v DC).Verified driver card functioned properly (12v DC).Verified motor speed can be changed by altering Verified motor speed can be changed by altering

square wave period.square wave period.

ControlControl

Successfully generated a square wave from Successfully generated a square wave from the microcontroller using output compare the microcontroller using output compare port.port.

8 pin output/input compare port8 pin output/input compare port4 pins for pulsing the motors4 pins for pulsing the motors4 pins for sensor interrupts4 pins for sensor interrupts

Successfully ran stepper motor using the Successfully ran stepper motor using the microcontroller.microcontroller.Same code can be used for other motors.Same code can be used for other motors.

Structural - FingersStructural - Fingers CurrentCurrent

Made connection for elastic band and Made connection for elastic band and tension cord on tip of fingertension cord on tip of finger

Made connection for elastic band on the Made connection for elastic band on the proximal end of fingerproximal end of finger

Tested with motorTested with motor FutureFuture

Still working on that perfect-sized fingerStill working on that perfect-sized finger Make complete fingers for the four fingersMake complete fingers for the four fingers Begin work on thumbBegin work on thumb

See what unique challenges it may bringSee what unique challenges it may bring Begin placement of touch sensorBegin placement of touch sensor

Hand TrialsHand Trials

Attached Hand to MotorAttached Hand to MotorRan motor, finger closed most of the wayRan motor, finger closed most of the way

Finger ActuationFinger Actuation

Wire attached to spool on motorWire attached to spool on motorFinger actuated by winding cable on spoolFinger actuated by winding cable on spoolFirst attempt using homemade spoolFirst attempt using homemade spoolNeed to find better spoolNeed to find better spool

Interlink Force Sensing ResistorInterlink Force Sensing Resistor• Polymer Thick Film Device • Decrease in resistance with an increase in force • Force range: < 100g – 10 kg• Rise time: 1-2 msec• Current limited to 1 mA/cm2

The KeyboardThe Keyboard

Dome-switch keyboard: 2 circuit board Dome-switch keyboard: 2 circuit board traces brought together under a rubber traces brought together under a rubber “dome”“dome”

Key depression causes a unique series of Key depression causes a unique series of high/low outputs, which can then be traced high/low outputs, which can then be traced back to a particular keyback to a particular key

Fingernail Touch SensingFingernail Touch Sensing

Less ideal than traditional sensingLess ideal than traditional sensing

- More susceptible to damage- More susceptible to damage

- Less anthropomorphic- Less anthropomorphic

Parts ListParts List

ScheduleSchedule