Sensor Hand - Raptor Reloaded Rework

thingiverse

This is one of the two hands we developed, the Sensor Hand. It has a set of pressure sensors to tell how hard the user is pushing against something or gripping something, as well as the temperature of what the user is holding, as well as sensing the temperature of an object. The .3dm files used are released along with the .stl files for your own modifications. Parts still needed [Obtain the files from Raptor Reloaded]: Wrist Pin Wrist Pin Cap Thumb Pin Knuckle Pin Finger Pin Fingertip (alternatively, print the two remakes we made: thing:1179988 and thing:1182856) Proximal These parts are compatible with the Raptor Reloaded and scales with the Raptor Reloaded. NOTE: 1) The Arduino casing is NOT to be scaled. 2) Although the physical prototype is meant for running two thermosensors and two vibration motors, the Arduino code currently only supports one set. Print Settings Rafts: Doesn't Matter Supports: Yes Infill: 30% Notes: 3 shells. Post-Printing Firstly, assemble all the parts except for the Arduino mount like a normal Raptor Reloaded hand [http://www.instructables.com/id/Assembly-of-e-NABLEs-Raptor-Reloaded-Hand/?ALLSTEPS] After doing so, put on the sensors. To make the pressure sensors, follow these instructions : [http://www.instructables.com/id/Stickytape-Sensors/?ALLSTEPS] Lastly, apply the Velcro strips onto the gauntlet and the Arduino mount, flash the code into the Arduino, place the Arduino/ LCD assembly [see section below] into the mount and you're done. Velcro attachment for the Arduino mount. Additional Material Needed Velostat sheet Multicore wire / copper wire Cloth tape / duct tape Arduino Nano Battery (The Arduino mount was designed for TURNIGY Nano-Tech 950mAh 3S 25~50C LiPO Pack) Infrared thermometer (MLX90614 is what we used, but you can use other thermosensors if you want. You may need to edit the code though) LCD Screen (Basic 8×2 Character LCD black on green) Disk vibration motor (ROB-08449 or equivalent) 20mm M3 female/female threaded standoff 8x 5mm M3 screws 4x 20mm M4 screws 20mm screws (size according to tensioner scale) Stripboard Female/ male socket strips Male/ male socket strips Velcro strips Velcro straps Elastic wristband Elastic (Stretch cord for elastic bracelets works well) Nylon fishing line Tools Needed Needle-nose pliers Tweezers Needle Files Sandpaper Soldering Iron Solder Desoldering Pump Making the Arduino/ LCD Assembly The Arduino_mount is specifically made for the Arduino/ LCD assembly we made. It uses a 33mm x 63mm stripboard as a base. You can make your own changes, but for that case, modify the Arduino_mount accordingly. An allowance of 1mm on each side should allow the Arduino/ LCD unit to fit into the mount without too much rattling. First, cut out the stripboard needed and drill four holes corresponding to the hole placement on the LCD screen. Then, solder on two pieces of the female/male socket strip to serve as the socket of the Arduino Mini. Remember to cut off the conductive strips between the two rows to prevent the legs from shorting each other out. Then, screw on the standoff. We now need to make a socket for the LCD screen. Solder on two rows of female/male socket strip on a 4 x 8 piece of stripboard. As with the socket for the Arduino, cut off the conductive strip between the soldered contacts. After that, just stick the socket onto the pins of the LCD screen. A view for the underside. Put on the Arduino Mini. For the Arduino Mini, solder the male/male socket strips to the legs of the Mini so that it can fit on the socket. Screw on the LCD screen onto the standoff [after you soldered on the connections], and you're done! Directional Vibration Feedback Band NOTE: As of now the Arduino code only allows for ONE thermosensor and vibration motor to be used. We have thermosensors facing both sides on the palm, and we have vibration motors corresponding to each side. Elastic wrist supports should work well as the wristband. Depending on where the heat is from, the corresponding vibration sensor will vibrate. There will be a vibration motor on the inside of the wrist and the back of the wrist When the user is about to grab something hot or touch something hot with the insides of the palm, the vibration motor at the inside of the wrist will activate. When the user is testing the temperature of something with the back of the hand and it is hot, the vibration motor at the back of the hand will activate.