Minimalist Finger

Assembly Instructions

1. Finger Assembly

1. Put bearings into flexion pulleys (3x).

   

2. Put bearings and pulleys onto bearing pins (2x).

   

3. Tie slipknots onto spring/tendon pins (2x).
4. Snap spring/tendon pin into fingertip and pull tendon into groove.

   

5. Snap bearing pin into place.

   

6. Snap middle linkage onto bearing pin.

   

7. Route tendon through and pull into groove.

   

8. Snap second tendon pin on and pull tendon into groove.

   

9. Snap second bearing pin into middle link.

   

10. Snap knuckle onto bearing pin.

    

11. Thread tendons through knuckle and onto grooves.

    

12. Put bearings into splay pulleys (2x).

    

13. Put belt pulley onto shaft.

    

14. Align all splay components and push shaft through.

    

15. Wrap tendons around splay pulleys and thread through base.

    

16. Put springs onto pins and snap onto linkages (x2).

    

17. Gently pry up tendon/spring pins and loop springs on (x2).

    

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##3 2. Mounting Assembly

1. Assemble main 80-20 frame with plates and bolts.

   

2. Put vertical 80-20 on with brackets and bolts.

   

3. Put pulley on splay motor.

   

4. Put splay motor on splay plate.

   

5. Put tensioner on splay plate.

   

6. Put splay plate on vertical 80-20 with brackets and bolts.

   

7. Put finger plate on vertical 80-20 with bolts.

   

8. Put tension plates on 80-20 with bolts (2x).

   

9. Put motor plates on 80-20 with bolts (2x).

   

10. Put pulleys on flexion motors (2x).

    

11. Put tension sensors on tension plates (2x).

    

12. Put motors on motor plates (2x).

    

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3. Finger/Mounting Integration Assembly

1. Bolt finger onto plate and put splay belt on.

   

2. Tension splay belt with allen key.

   

3. Thread tendon from finger through tension sensor and onto pulley.

   

4. Terminate tendon on motor pulley with slipknot and screw.

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Instructions to Run Finger Program/Operate Finger Once Assembled

1. Locate main folder in the Electrical and upload main.ino to the Teensy 4.1.

2. Let calibration sequence run without interference.

3. Choose desired behavior/test.

   • For all states except the flexion-extension test, simply press the specified button to trigger the state switch.
   • You can switch between any two states by pressing the corresponding buttons.
   • For the MCP flexion-extension test:
     • Move the jumper wire on Pin 33 from GND to 3.3V.
     • This will trigger the flexion-extension test.
     • At this point, there is no way to return to the other states without rerunning the program from the start on the Teensy.

4. When finished, press the E-stop to turn off the motors.