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\title{Robotic finger}
\author{A project in IN5590 by Matteo Brosstad Greco E-mail: matteobg@ifi.uio.no }

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\textbf{Articulated humanoid robotic finger}.
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        \section{Intro}
        The inspiration for this project was modern prosthetics as they can be quite advanced. I wished to create a robotic hand that could move and function much like a human hand by the use of actuators similar to muscle and tendons. I found an article with a design i though i could replicate and set some ambitious goals. 
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            \item Make index finger that is actuated by actuators similar to muscle and tendons (using the papers design).
            \item Achive a workspace similar to a human finger (by refining the model).
            \item Create thumb (by slight modificatin of the existing model)
            \item Create rest of fingers.
            \item Controled the hand by sensors on another hand to mimic movements.
        \end{itemize}

        \includegraphics[width=0.75\linewidth, angle=270]{images/2physical_prototype.jpg}
        \captionof{figure}{v1 of prototype}
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        \section{Parts}
          
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            \item  Central parts are made by resin printing for better part resolution.
            \item Links are laser cut acrylic.
            \item Ball bearings with axle are used to connect parts.
            \item Lower part of assembly is made of rod end bearings for allowing side to side motion.
        \end{itemize}
        
        \section{Conclusion}

        I managed to achieve the first milestone of my goals and made good progress on the second. I was unable to get to the controling of the finger by actuators, so that would be the next step. Also some refinement of the design for better mobility could be done.
        \includegraphics[width=1\linewidth]{images/2.png}
        \captionof{figure}{Solidworks model of the v2 of prototype}
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    \includegraphics[width=0.5\linewidth]{images/illustration.png}
    \captionof{figure}{Kinematic structure from the original article}
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    \textbf{Desing from the Nature article "Integrated linkage-driven dexterous anthropomorphic robotic hand"} by Uikyum Kim, Dawoon Jung, Heeyoen Jeong, Jongwoo Park, Hyun-Mok Jung, Joono Cheong, Hyouk Ryeol Choi, Hyunmin Do & Chanhun Park
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