HRS 01 – SAMD21 Microcontroller
Status: Achieved
- Verified hardware components in BOM and final assembly.
HRS 02 – MyoWare EMG Sensor
Status: Partial
- Measured analog output signal using oscilloscope to confirm functionality.
- Readings were wildly inaccurate, requiring software compensation.
HRS 03 – LSM6DSOX IMU Sensors
Status: Achieved
- Verified I2C communication using logic analyzer and sensor data reading.
HRS 04 – MG90S Servo Motors
Status: Achieved
- Physical inspection and testing of motor response for all four fingers.
HRS 05 – 3.7V Li-ion Battery
Status: Achieved
- Load-testing and measured input/output voltages on test points.
HRS 06 – 3.3V Voltage Regulation
Status: Achieved
- Measured voltage output from regulator circuit for MCU and sensors.
HRS 07 – 5.0V Boost Converter
Status: Partial
- Measured voltage output at servo power pins.
- On-board boost converter failed, requiring external power solution.
HRS 08 – Minimum Grip Strength (20 lbs)
Status: Partial
- Measured grip force using force gauge.
- Achieved 16 lbs of force, below target specification.
HRS 09 – Individual Servo Control
Status: Achieved
- Verified independent actuation of each finger through testing.
HRS 10 – Emergency Stop Button
Status: Achieved
- Functionality verified through repeated emergency stop tests.
- All motor operations disabled immediately upon activation.