1. CIS Anthropomorphic Hand Team Members: Tom Billings, Mike Stock, Scott Shugh, Ananya Majumder, Kit Buckley

2. Control (Last Time) Loaded and debugged code Loaded and debugged code Ran motor from a function generator Ran motor from a function generator Ran motor from microcontroller code Ran motor from microcontroller code Power Needs: Power Needs:

3. Control Implemented forward and reverse operations Implemented forward and reverse operations Reverse operation returns to original position by keeping track of the number of steps taken Reverse operation returns to original position by keeping track of the number of steps taken Successfully communicated with microcontroller using HyperTerminal Successfully communicated with microcontroller using HyperTerminal Successfully communicated with the microcontroller using Serial Class (C++) Successfully communicated with the microcontroller using Serial Class (C++) Data was sent and received from both devices Data was sent and received from both devices

4. Control Successfully implemented interrupt routine Successfully implemented interrupt routine Simulated touch sensor response using a push button Simulated touch sensor response using a push button Successfully used force sensor to generate an interrupt Successfully used force sensor to generate an interrupt

5. Force Sensor Specifics Diameter of sensing surface: 0.2” = 0.5 cm Diameter of sensing surface: 0.2” = 0.5 cm Area of sensing surface: 0.7854 cm 2 Area of sensing surface: 0.7854 cm 2 Max current: 1 mA/cm 2 Max current: 1 mA/cm 2 So use a max current of 750 µA So use a max current of 750 µA Microcontroller can receive 9V, 1.2A Microcontroller can receive 9V, 1.2A

6. 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) 5V 100 kΩ

7. Successfully detected a touch Attached the circuit to the microcontroller Attached the circuit to the microcontroller When the FSR was pressed, the motor stopped turning (successfully indicating a touch) When the FSR was pressed, the motor stopped turning (successfully indicating a touch)

8. Structural - Fingers Current Current Made more uniform fingers Made more uniform fingers 16mm>Width >22mm 16mm>Width >22mm Experimented with Flattened Tip for force sensors Experimented with Flattened Tip for force sensors Made Thumb Made Thumb Same as Fingers due to grasping Same as Fingers due to grasping Obtained video camera for tutorial Obtained video camera for tutorial Future Future Put all connections on Put all connections on Make video Make video Continue to make fingers Continue to make fingers

9. More on Fingers Created drilling jig Created drilling jig Allows for more uniform fingers Allows for more uniform fingers Creating more elastic cords Creating more elastic cords

10. Spool Polymorph spool unacceptable – needs screw to pinch shaft Polymorph spool unacceptable – needs screw to pinch shaft Converted cabinet doorknobs into spool Converted cabinet doorknobs into spool First wooden spool broke First wooden spool broke Nut to hold screw glued in, popped out. Nut to hold screw glued in, popped out. Second spool addressed problem, but not yet been tested Second spool addressed problem, but not yet been tested

11. Parts List Jameco Stepper Motors currently backordered

12. Schedule