Getting the finger to move is a hard task, getting it to move accuratly is even harder.

Here is a video demonstration of bang-bang (on off) control of a single motor on a single finger joint. This uses a very basic closed loop control from a joint mointe potentiometer taking to try and get the finger to a desired setpoint, set by another potentiometer.

A stand for the finger has been developed with space for each required motor for a single finger, to allow for the development of a system to hold and manipulate the finger and joints.

This device is not intended to be a permendant addition to the model but instead be a research platform for improving the system.

Now there is a placeholder palm, the thumb can be added, and the angles adjusted as well as the degrees of freedom defined.

As a part of the optimisation work done within Prototype 5, the structural sections of the fingers were simplified. This allowed the parts to be easily and quickly changed to suit the dimentions needed for the different fingers. This made increasing the mdoel to four fingers very simple.