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

2. Control Successfully loaded code to the microcontroller and debugged. Successfully loaded code to the microcontroller and debugged. Project Board solved earlier issue with product glitch. Project Board solved earlier issue with product glitch. Successfully connected and ran the stepper motor with a function generator. Successfully connected and ran the stepper motor with a function generator. Verified driver card functioned properly (12v DC). Verified driver card functioned properly (12v DC). Verified motor speed can be changed by altering square wave period. Verified motor speed can be changed by altering square wave period.

3. Control Successfully generated a square wave from the microcontroller using output compare port. Successfully generated a square wave from the microcontroller using output compare port. 8 pin output/input compare port 8 pin output/input compare port 4 pins for pulsing the motors 4 pins for pulsing the motors 4 pins for sensor interrupts 4 pins for sensor interrupts Successfully ran stepper motor using the microcontroller. Successfully ran stepper motor using the microcontroller. Same code can be used for other motors. Same code can be used for other motors.

4. Structural - Fingers Current Current Made connection for elastic band and tension cord on tip of finger Made connection for elastic band and tension cord on tip of finger Made connection for elastic band on the proximal end of finger Made connection for elastic band on the proximal end of finger Tested with motor Tested with motor Future Future Still working on that perfect-sized finger Still working on that perfect-sized finger Make complete fingers for the four fingers Make complete fingers for the four fingers Begin work on thumb Begin work on thumb See what unique challenges it may bring See what unique challenges it may bring Begin placement of touch sensor Begin placement of touch sensor

5. Hand Trials Attached Hand to Motor Attached Hand to Motor Ran motor, finger closed most of the way Ran motor, finger closed most of the way

6. Finger Actuation Wire attached to spool on motor Wire attached to spool on motor Finger actuated by winding cable on spool Finger actuated by winding cable on spool First attempt using homemade spool First attempt using homemade spool Need to find better spool Need to find better spool

7. 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/cm 2

8. The Keyboard Dome-switch keyboard: 2 circuit board traces brought together under a rubber “dome” 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 Key depression causes a unique series of high/low outputs, which can then be traced back to a particular key

9. Fingernail Touch Sensing Less ideal than traditional sensing Less ideal than traditional sensing - More susceptible to damage - Less anthropomorphic

10. Parts List

11. Schedule