Transcript Presentation_02_12_08

CIS Anthropomorphic
Hand
Team Members:
Tom Billings, Mike Stock, Scott Shugh,
Ananya Majumder, Kit Buckley
Control (Last Time)
Loaded and debugged code
 Ran motor from a function generator
 Ran motor from microcontroller code
 Power Needs:

Control

Implemented forward and reverse operations
 Reverse
operation returns to original position by
keeping track of the number of steps taken
Successfully communicated with
microcontroller using HyperTerminal
 Successfully communicated with the
microcontroller using Serial Class (C++)


Data was sent and received from both devices
Control

Successfully implemented interrupt routine

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Simulated touch sensor response using a
push button
Successfully used force sensor to
generate an interrupt
Force Sensor Specifics
Diameter of sensing surface: 0.2” = 0.5 cm
 Area of sensing surface: 0.7854 cm2
 Max current: 1 mA/cm2
 So use a max current of 750 µA
 Microcontroller can receive 9V, 1.2A

TI UA741CP Op Amp
• Use as part of a voltage divider
• Vcc+ = 5V, Vcc- = 0V
• Offsets = 0V
• Vout = (V+) / [1 + RFSR/(100
kΩ)]
• Maximum current through FSR:
50 µA (5V/100 k Ω)
100
kΩ
5V
Successfully detected a touch
Attached the circuit to the
microcontroller
 When the FSR was pressed, the motor
stopped turning (successfully indicating
a touch)

Structural - Fingers

Current

Made more uniform fingers

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Experimented with Flattened Tip for
force sensors
Made Thumb

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16mm>Width >22mm
Same as Fingers due to grasping
Obtained video camera for tutorial
Future



Put all connections on
Make video
Continue to make fingers
More on Fingers

Created drilling jig


Allows for more uniform
fingers
Creating more elastic
cords
Spool



Polymorph spool
unacceptable – needs screw
to pinch shaft
Converted cabinet
doorknobs into spool
First wooden spool broke


Nut to hold screw glued in,
popped out.
Second spool addressed
problem, but not yet been
tested
Parts List
Jameco Stepper Motors currently backordered
Schedule