22-pad skin sensor, for monitored pressure data on the arm. 22 Tekscan FlexiForce A502 Sensors are mounted on the robot, including 5 on each of the two first spherical wrist joints, 6 on the forearm link, and 6 on the half-arm link. Individual tactile sensor pressure readings are communicated through four Adafruit Feather M0 WiFi boards, with one on each link, at ~800 Hz per-board.
Bill of Materials
| Vendor | Description | Cost / Per Unit | Quantity | Cost | Link |
|---|---|---|---|---|---|
| Tekscan | FlexiForce Pads | $27.87 | 21 | $584.14 | Product page |
| Adafruit | Adafruit Feather M0 WiFi | $39.95 | 4 | $159.80 | Product page |
| Adafruit | 3.7 V LiPo Rechargeable Battery | $12.50 | 4 | $50.00 | Product page |
| Adafruit | Adafruit Micro-Lipo Charger | $6.95 | 4 | $27.80 | Product page |
| Adafruit | 10kΩ Through-Hole Resistors - 25 pack | $0.75 | 1 | $0.75 | Product page |
| McMaster-Carr | 302 Stainless Steel Torsion Spring | $3.23 | 1 | $3.23 | Product page |
| Amazon | Gorilla Clear Double-Sided Mounting Tape | $11.99 | 1 | $11.99 | Product page |
| Amazon | JST XH 2.5-2 Pin Battery Connector (50 set) | $7.79 | 1 | $7.79 | Product page |
| Amazon | Double-Sided Velcro | $15.43 | 1 | $15.43 | Product page |
| Total | $860.92 | ||||
Printer Parts
Assembly
Step 1: Connect tactile sensor pads to the board
Make wires and connect taxels.
Step 2: Attach boards to mount
Screw in board to mount. Tape tactile sensors on the outside with Gorilla tape.
Step 3: Put mounts on the robot
For longer mounts, they will snap into place on the robot links. If needed for the smaller mounts, use a small amount of Velcro on the inside to stick to the robot.
