Transcript Presentation_02_05_08

CIS Anthropomorphic
Hand
Team Members:
Tom Billings, Mike Stock, Scott Shugh,
Ananya Majumder, Kit Buckley
Control

Successfully loaded code to the
microcontroller and debugged.
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Project Board solved earlier issue with product
glitch.
Successfully connected and ran the stepper
motor with a function generator.
Verified driver card functioned properly (12v DC).
 Verified motor speed can be changed by altering
square wave period.

Control
Successfully generated a square wave
from the microcontroller using output
compare port.
 8 pin output/input compare port

4 pins for pulsing the motors
 4 pins for sensor interrupts


Successfully ran stepper motor using the
microcontroller.

Same code can be used for other motors.
Structural - Fingers

Current
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Made connection for elastic band
and tension cord on tip of finger
Made connection for elastic band
on the proximal end of finger
Tested with motor
Future

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Still working on that perfect-sized
finger
Make complete fingers for the four
fingers
Begin work on thumb

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See what unique challenges it may
bring
Begin placement of touch sensor
Hand Trials
Attached Hand to Motor
 Ran motor, finger closed most of the way

Finger Actuation
Wire attached to spool on motor
 Finger actuated by winding cable on spool
 First attempt using homemade spool
 Need to find better spool

Interlink 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 Keyboard
Dome-switch keyboard: 2 circuit board
traces brought together under a rubber
“dome”
 Key depression causes a unique series of
high/low outputs, which can then be traced
back to a particular key

Fingernail Touch Sensing

Less ideal than traditional sensing
- More susceptible to damage
- Less anthropomorphic
Parts List
Schedule