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

3. Current Status - Structural Polymorph Polymorph 3 hands have been made 3 hands have been made 1 st generation 1 st generation One piece One piece Exterior cable guards Exterior cable guards Pros Pros No welded joints No welded joints Light weight Light weight Cons Cons Fabrication time Fabrication time Exterior guards weak Exterior guards weak

4. 2 nd generation 2 nd generation Digits fabricated individually Digits fabricated individually Bored holes through finger for cables Bored holes through finger for cables Pros Pros More attention to each piece More attention to each piece Secure cable routes Secure cable routes Cons Cons Too heavy Too heavy Palm is main joint Palm is main joint Current Status - Structural

5. 3 rd generation 3 rd generation Same fabrication process as 2 nd generation Same fabrication process as 2 nd generation Lighter palm Lighter palm Pros Pros Meets weight requirement Meets weight requirement Cons Cons Question sustainability of palm strength Question sustainability of palm strength

6. Full Hand: Proposed Structure Composite design incorporating polymorph fingers with a rapid prototyped palm. Composite design incorporating polymorph fingers with a rapid prototyped palm.

7. Rapid Prototyped Palm Anticipated Cost - $20 Anticipated Cost - $20 Pros Pros Lighter Lighter More detailed More detailed Repeatable Repeatable Allows for interchanging fingers Allows for interchanging fingers Cons Cons Less flexible if design changes Less flexible if design changes Cost relative to polymorph Cost relative to polymorph

8. Touch Sensors Last time we were considering force sensors. Last time we were considering force sensors. We have determined that touch sensors will be easier to work with. We have determined that touch sensors will be easier to work with.

9. Touch Sensors We have decided to use the TACT004 Standard Tactile Switch ordered from futurlec.com We have decided to use the TACT004 Standard Tactile Switch ordered from futurlec.com Cost: 30c/switch Cost: 30c/switch Dimensions will allow the switch to be placed in a small indentation made in the fingertip. Dimensions will allow the switch to be placed in a small indentation made in the fingertip.

10. Control Communication Parallel Parallel Only one interrupt line Only one interrupt line Permanent damage of motherboard could result Permanent damage of motherboard could result Phased out interface Phased out interface Microcontroller Microcontroller Multiple interrupts Multiple interrupts Standalone application Standalone application Serial/USB output Serial/USB output

11. Freescale 16-Bit HCS12XDT512 Student Learning Kit 16-Bit HCS12XDT512 Student Learning Kit Each kit includes required hardware, CodeWarrior Development Software, and informational CD. Each kit includes required hardware, CodeWarrior Development Software, and informational CD. Highly documented Highly documented Similar to ‘in-house’ Motorola microcontrollers used in EECE 218 and EECE 276 Similar to ‘in-house’ Motorola microcontrollers used in EECE 218 and EECE 276 $95 $95

12. PIC PCW Student Development Kit PCW Student Development Kit Includes: Includes: Student Version PCW IDE Complier Student Version PCW IDE Complier Limited to PIC16F877A Board Limited to PIC16F877A Board Allows programming in C or Assembly Allows programming in C or Assembly Intro to PIC © C and Examples Intro to PIC © C and Examples Necessary hardware Necessary hardware Including: PIC16F77A Board Including: PIC16F77A Board and Breadboard Cost: $149 Cost: $149

13. EasyDriver v3 Uses A3967 Driver Chip Uses A3967 Driver Chip Optimized by always stepping in 1/8 th steps Optimized by always stepping in 1/8 th steps Simplifies motor operation to 2 input pins directing forward, backward, and no motion Simplifies motor operation to 2 input pins directing forward, backward, and no motion Max Current: 750 mA Max Current: 750 mA Overheating issues when Overheating issues when approaching 750 mA 30 V Output Rating 30 V Output Rating Price: $14.95 Price: $14.95

14. Other Driver Options Exist L293D Output current of 600mA per channel Documentation available Listed as $2.75 each on digikey

15. Bi-polar Stepper Motors MO-095 MO-095 Holding torque = 0.068Nm Holding torque = 0.068Nm Rated current = 750mA Rated current = 750mA Step Angle 1.8 degrees Step Angle 1.8 degrees $18 $18 MO-097 MO-097 Holding torque = 0.198Nm Holding torque = 0.198Nm Rated current = 400mA Rated current = 400mA Step Angle = 1.8 degrees Step Angle = 1.8 degrees $22 $22 MO-101 MO-101 Holding torque = 0.343Nm Holding torque = 0.343Nm Rated current = 500mA Rated current = 500mA Step Angle 1.8 degrees Step Angle 1.8 degrees $49 $49

17. Structural Costs Structural Costs Polymorph: $40 per 500g Polymorph: $40 per 500g For 5 fingers (125 g): $10 For 5 fingers (125 g): $10 Rapid Prototype: $5 per cubic inch Rapid Prototype: $5 per cubic inch For palm (5 in 3 ): $25 For palm (5 in 3 ): $25 Elastic shock cords: $2 per yard Elastic shock cords: $2 per yard 5 yards: $10 5 yards: $10 Heavy Test Fishing Lining: $0.10 per yard Heavy Test Fishing Lining: $0.10 per yard Cable Housing: $20 per 25 feet Cable Housing: $20 per 25 feet Mechanics Mechanics Bipolar Stepper Motor: $22-40 per motor Bipolar Stepper Motor: $22-40 per motor 4 motors: $88-$120 4 motors: $88-$120 Feedback Feedback Touch Sensors: $0.30 per sensor Touch Sensors: $0.30 per sensor Control Control Microcontroller: $150 Microcontroller: $150 Total Cost Estimate: $350 Total Cost Estimate: $350 Cost

18. Schedule