Under Contruction.

 

The hands are probably the most difficult part of the V2 to dissasemble. There is a pin that runs completely through the hand just behind the fingers, that makes prying the shell open quite challenging. The hand board itself is quite simple, it contain three connectors, one for the wrist motor, one for touch sensors and one for the wrist encoder. There is also unused pads for a second touch sensor, at first I thought this meant that there was an addition unused input in the hands, but close inspect of the tracks reveals that the pad for touch1 and touch2 are directly connected. When I first saw the encoder in the wrist I assumed it was a pot, however when testing the wiring I discovered it was actually a 2bit encoder, giving the wrist four zones of positioning. It seems odd to have not used a pot here, I assume cost was the deciding factor.