electrical

Sensors

• Bioamp EXG Pill
  • An open source EXG device, used for capturing the signals for controlling the Dewclaw
• Kapton FSC
  • A paper thin (well, construction paper) Kapton sensor capable of high resolution force sensing
  • Parallel plate capacitor with Kapton as the dielectric
  • Used in force sensing for feedback purposes

Motors

• Savox 1261 High Voltage Micro Servo
  • Controls flexion and adduction
  • Note: default servo frequencies are incompatible with the Savox servos and will lead to jittering. See code for propper frequency
• Vibrating Mini Motor Disc
  • Used for haptic feedback from FSC
  • any brand will work; does not have to be bought from Arduino

Microcomputer

The easiest implementation of Dewclaw uses an Arduino Nano. In contrast, the most compact version uses a custom Brain Board, which is basically a custom Arduino Nano (ATMega328P) with an integrated 7.2V 2A rail for the servos.

Tinkercad

Note: Two of the potentiometer in the diagram need to be replaced with the Bioamp EXG. An updated schematic will be uploaded when I have the time to draw one