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@@ -48,7 +48,48 @@ As such, I chose this project due to its nature and complexity, as I strongly be
- First 3D renders, there is plenty of room for improvement, but have been getting more comfortable with Fusion
### Week 9
-Working on the documentation.
+- Working on the documentation.
+
+### Week 10
+- Got the prints, this is tough. Broke a pin already, the tolerances were not a joke. Will use the universal repair tool, superglue.
+
+### Week 11
+- Still working at the build; it feels like a battle, and I am losing.
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+### Week 12
+The assembly has been completed, could say that the superglue was *handy*. You would think that a large hardware store would have all the tools you need, but sometimes you have to improvise (this time, I had to improvise a tad too much).
+
+Down below is my fully functional, high precision, low cost, hand drill (could not find a smaller electric drill, and I was not gonna spend the big buck on professional ones, hope I will not be working in construction anytime soon), as the tendon channels needed redrilling.
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+Learnt what an *elephant foot* means in 3D printing; pairing grit paper with my ultra precision tool meant the job was (supposed to) be easy enough. 4 days later, I was still sanding down finger joints, else the servos would snap at the first tug.
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+Also tested the code without the assembly, everything was looking good. Sample sensor, analyze, classify and respond with the correct motors.
+
+
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+
+
+### Week 13
+Final push: the hand was complete, the assembly looked good, the mechanics ran smooth.
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+For the future students taking this class, please do **demo videos**. You never know when things might go wrong. Installed an I2C module for the servo control, things ran great until they did not. Functional code, got a video of the servos moving, after which we got smoke coming out of the module. Safe to say, I was toast. Document your progress, stuff happens.
+
### Week 10
Got the prints, this is tough. Broke a pin already, the tolerances were not a joke. Will use the universal repair tool, superglue.
@@ -64,7 +105,15 @@ The system uses **AD8232** EKG sensors, repurposed for EMG due to the high cost
Everything is processed by an **STM32U545 Nucleo** microcontroller. **MG90S** servos will be used in the finger pulley system, as I need enough torque to counteract the force pulling the finger back in its neutral position.
-Generic string and elastic materials will be used for the tendons, such as fishing line for the flexors and springs for the extensors.
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+Two tendons per finger, both via braided fishing line (strongest I could find in store was 24kg, no way the servos snap it). The extensor motion was achieved by tying orthodontic elastics (braces elastics) to a pin mounted in the servo bay, which pulled the finger to its neutral position after the tension was released; almost like a saw tooth.
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@@ -80,6 +129,8 @@ Generic string and elastic materials will be used for the tendons, such as fishi
+The **PCA9685** has been left out, as the project can run with or without it, via the **PWM** pins on the **STM**. If we were to install it, we would wire up the `SDA` and `SCL` pins, with power coming from the external power supply, (logic 3.3V comes from the STM). The servos are plug and play, provided you do not mess up their orientation.
+
### Bill of Materials