ISAC Anthropomorphic Hand

1
ISAC Anthropomorphic Hand

• Team Members
• Tom Billings, Mike Stock, Scott Shugh, Ananya
  Majumder, Kit Buckley

2
Spool Update

• Needed to reduce the diameter of the spool
• Torque is constant, so actuation force increases
  as shaft diameter decreases.
• Decided to use the shaft of the motor as the
  spindle.
• Made a polymorph guide that attaches the line to
  the shaft.
• Also keeps the line from sliding off of the end
  of the shaft.

3
Structural - Fingers

• Current
• Variation on finger design trying to increase
  flexibility
• Fewer joints
• Different lengths

4
Structural - Hand

• Current
• With fishing line as cord and modified spool, the
  finger was able to close
• Future
• Use original finger design

After Modifications
Before Modifications
5
Sensors

• Sensors are now soldered to ribbon cable.
• Determined that, if we decrease the size of the
  fingers, we wont have to artificially increase
  the surface area of the sensors.
• Still trying to obtain a wire-wrapped circuit.
• Still need to characterize the current drawn by
  the microcontroller.

6
Thanks Dr. Bonds
7
Control

• Initially had planned on a set number of maximum
  steps and motor speed.
• Realized that there will be variations in closing
  steps/speed based on finger variation due to
  polymorph and elastic tension.
• Fix to this issue is to allow the user
  customization.
• Allow for setting speed and maximum steps

8
Control

• Speed
• Set a 100 speed
• Allow changing speed by factors of
• 25, 50, 75, 125, 150, 200
• 100 resets speed to original
• Limits 10, 400
• Steps
• Set a good step value based on testing

9
Control

• Steps
• Set a good step value based on experimental
  testing.
• Allow for step change within step limits based on
  experimental testing.
• Range
• -127128 (passing in a 0 will reset steps)

10
Parts List
11
Schedule