First Iteration Prototype: Getting the Idea Started

Started by developing a single finger. In this iteration the components of the finger were made of foam wrapped in cylinders, and the structure of the finger was given 2 springs in between the different parts. The parts were held together with tape and elastic bands. Attached to each part a small tube made of paper: we connected a wire going through these tubes to a mini servo, at the base of the finger,used to power its movement.





This prototype didn't function as we wanted, but gave us useful feedback to proceed: the spring was too strong for the mini servo to pull the finger down completely. Moreover, it allowed for weird movements along all axis, whereas we wanted a straight, regular movement of the finger opening and closing.