Update all README files.

CAD/Interfaces/README.md

@@ -1,11 +1,27 @@
 # Robot Hands Interfaces
 In order to control robot hands the user can use the proposed interfaces.
 #####Robot Hand Extension: 
-This interface had two buttons, one for closing and one for opening the robot hand.
+This interface had two buttons, one for closing and one for opening the robot hand. 
+To make this, you should print with 3d printer two parts, RobotHandExtension.STL and dovetail_male_RobotHandExtension.STL.
+For connecting the two parts you must use a M5 nut and screw which you can find at common parts folder.
+######Build of Materials
+    1x M5 Nut
+    1x M5 L22
+    ABS Filament
 
 #####SliderBox:
 This interface had two linear potentiometers. Until now the one of these are active.
 Also, SliderBox could be use for robot hands which had two servo motors like
 [Model T42  of Yale OpenHand Project](http://www.eng.yale.edu/grablab/openhand/model_t42.html#performance).
-
+To make this, you should cut the parts, which are in /dxf folder, in acrylic sheet with laser cutter. For connecting the parts you must use 
+glue for acrylic, M3 nuts and screws. For connecting the potentiometers in the
+SliderBox you must use M3 nuts, screws and spacers which are in common parts folder. 
+######Build of Materials
+    14x M3 Nut
+    6x M3 L8
+    8x M3 L20
+    8x plastic spacers L15 for M3 screw
+    Glue for Acrylic
+    Acrylic sheet 2mm
+
 For both interfaces you can find the software, firmware and electronics in respective folders of Robot-Hands repo.

CAD/README.md

@@ -1,29 +1,45 @@
 # Robot Hands CAD files
 
-In this folder we provide appropriate 3D models of robot hands and parts (Solidworks .SLDASM .SLDPRT), and 
-laser cut files (.dxf, .dwg) in order to replicate the proposed design.
-
-For more information about [design](http://www.openbionics.org/?page_id=38)
-
-# Physical Characteristics of Robot Finger and Hand
-Robot Finger:
-![Finger](https://raw.github.com/zisi/openBionics/master/Pics/Finger.png)
-
-    DOF's: 2
-	Width(mm): 20
-	Lenght(mm): 87.3
-	Weigth(g): 20 
-	Force in fingertip (N): 8
-
-Robot Hand:
-![RobotHand](https://raw.github.com/zisi/openBionics/master/Pics/pic4.png)
-
-	Actuators: 1
-	Base Height(mm): 110
-	Base Width(mm): 77
-	Weight(g): 280
-
-
+In this folder we provide appropriate 3D models (Solidworks .SLDASM .SLDPRT), laser cut files (.dxf) and files for 3d printer (.stl)
+in order to replicate the proposed designs.
+
+# Design and Fabrication Parameters
+
+The designs of parts (Solidworks .SLDASM .SLDPRT) are parametric. Thus, the user could choose the appropiate dimensions that he wants.
+A guide by which inspired is [here](http://www.eng.yale.edu/grablab/openhand/OpenHand%20CAD%20Guide.pdf). The picture below and tables
+show the parameters and limits of the values that can take. 
+
+<img src="https://raw.github.com/zisi/openBionics/master/Pics/Parameters.png" width="800" height="800" />
+
+#####Design Parameters
+	Name of parameter: limits, default value
+	Width of Phalanxs, Wph (mm): 16 - 30, 20
+	Length of Proximal Phalanx, Lp (mm): 24 - , 40
+	Length of Distal Phalanx, Ld (mm): 18 - , 35
+	Transmission radii of Proximal, rp (mm): 7.8 - , 8
+	Transmission radii of Distal, rd (mm):7.8 - , 8
+	Thickness of Proximal Flexure Joint, Tjointp (mm): 2 - 6, 4
+	Thickness of Distal Flexure Joint, Tjointd (mm): 2 - 6, 5
+	Length of Proximal Flexure Joint, Ljointp (mm): 6 - 16, 10
+	Lenght of Distal Flexure Joint, Ljointd (mm): 6 - 16, 10
+	Width of flexure Joints, Wjoint (mm): 16 - 30, 20
+	Initial angle between Finger Base and robot Base, Tb (degrees): 20 - 45, 45
+	Initial angle between Finger Base and Proximal, Tp (degrees): 0 - 30, 8
+	Initial angle between Proximal and Distal, Td (degrees): 0 - 30, 8
+	Finger opposition length, Lb (mm): 45 - 55, 45
+
+#####Fabrication Parameters
+	print fit, print_fit (mm): 0.2
+	print free, print_free (mm): 0.45
+	cut free, cut_free (mm): 0.2
+	radii fit, radii_fit (mm): 0.2
+
+In order to print or cut the parts in correct dimensions is necessary to add in design the above parameters.
+
+More information about the fabrication parameters you can find [here for 3d printer](http://www.eng.yale.edu/grablab/openhand/OpenHand%20CAD%20Guide.pdf) and [here for laser cutter](http://support.ponoko.com/entries/498833-How-to-make-interlocking-acrylic-designs)
+# Robot Finger Structure
+
+<img src="https://raw.github.com/zisi/openBionics/master/Pics/Finger.png" width="500" height="500" />
 # Replicating the Robot Hand Design
 
 In order to replicate this design of robot hands, you will need the below materials.
@@ -39,5 +55,6 @@ In order to replicate this design of robot hands, you will need the below materi
 	[9] Long Darners 
 	[10] Nylon Fishing Line (not shown in the image)
 
-![materialsNum](https://raw.github.com/zisi/openBionics/master/Pics/materialsNum.png)
-
+<img src="https://raw.github.com/zisi/openBionics/master/Pics/materialsNum.png" width="600" height="600" />
+
+For more information about [design](http://www.openbionics.org/?page_id=38)	

CAD/RobotHand/README.md

@@ -0,0 +1,20 @@
+# Physical Characteristics of Robot Finger and Hand
+###Robot Finger:
+<img src="https://raw.github.com/zisi/openBionics/master/Pics/pic16.png" width="60%" height="60%" />
+
+    DOF's: 2
+	Width(mm): 20
+	Lenght(mm): 95
+	Weigth(g): 20 
+	Force in fingertip (N): 8
+
+###Robot Hand:
+<img src="https://raw.github.com/zisi/openBionics/master/Pics/pic4.png" width="60%" height="60%" />
+
+	Actuators: 1
+	Base Height(mm): 100-110
+	Base Width(mm): 77
+	Weight(g): 280
+	Number of Fingers: 2-4
+
+ A complete tutorial for the replication of this robot hand can be found [here.](http://www.openbionics.org/TR2015_OpenBionics_RobotHandsGuide.pdf)

Electronics/README.md

@@ -1,6 +1,6 @@
 # Electronics
 
-This folder presents the robot hands electronics (the Schematic, the PCB Layout and the OpenBionics library).
+This folder presents the electronics for the robot hands and for the interfaces (the Schematic, the PCB Layout and the OpenBionics library).
 In order to control the RC or the AX12 servo motor, we use the arduino Micro Pro microcontroller platform, combined with a custom "Shield".
 
 More information about Arduino Micro can be found [here.](http://arduino.cc/en/Main/ArduinoBoardMicro)
@@ -11,7 +11,7 @@ The Pin Mapping of the Arduino Micro Pro "Shield".
 ![PCB](https://raw.github.com/zisi/openBionics/master/Pics/PCB1.png)
 
 
-# Build of Materials
+# Build of Materials of main PCB
 	Part           Value              Device             Package 
 	ARDUINO_MICRO  -                  -		     -
 	C1             100u               CPOL-EUE2.5-6      E2,5-6  
@@ -30,3 +30,22 @@ The Pin Mapping of the Arduino Micro Pro "Shield".
 You can attach the PCB at the PCBMount.STL part of the robot hands, using two M2x8 screws and two M2 nuts.
 
 ![PCBMount](https://raw.github.com/zisi/openBionics/master/Pics/PCB2.jpg)
+
+# Interfaces
+
+#####RobotHandExtension
+This interface requires push buttons and wires with the appropriate terminals.
+The push buttons are placed in suitable pockets in RobotHandExtension part. Moreover, the  RobotHandExtension part has the necessary routing for the wires. The open button pin is B1 and it is placed on the top of the RobotHandExtension part. The close button pin is B2 and it is placed on the right hand side of the same part.
+
+######Build of Materials
+    2x push buttons
+    2x wires terminals for HEADER-2P-65/35MIL (HEADER-2P)
+
+#####SliderBox
+This interface requires one arduino board and two linears potentiometers.
+The potentiometers are connected to the analog inputs A0 and A1 of arduino board.
+
+######Build of Materials
+    2x linear potentiometer 10k (linear)
+    1x Arduino board
+    1x Jumper Wire Pack 

README.md

@@ -12,6 +12,4 @@ This repository contains all the necessary files, to replicate our robot hands.
 
 For more information visit [OpenBionics.](http://www.openbionics.org/)
 
-We have published a complete tutorial for the replication of our hands. The tutorial can be found [here.](http://www.openbionics.org/TR2015_OpenBionics_RobotHandsGuide.pdf)
-
-![robotHand](https://raw.github.com/zisi/openBionics/master/Pics/pic7.png)
+We have published a complete tutorial for the replication of our hands. The tutorial can be found [here.](http://www.openbionics.org/TR2015_OpenBionics_RobotHandsGuide.pdf)

Software/README.md

@@ -63,3 +63,29 @@ In order to view the acknowledgment and the state of motor you can use the follo
 
 	$rostopic echo /MotorState
 	$rostopic echo /RobotHandAck
+
+# Interfaces
+
+It is not necessary to use the planner PC for the control of the robot hand. The user could also use the proposed interfaces.
+
+#####RobotHandExtension
+The firmware for RobotHandExtension interface is inside in RobotHand.ino and is active:
+
+    #define EXTENSION 1: with RobotHandExtension interface 
+
+and deactive:
+
+    #define EXTENSION 0: without RobotHandExtension interface
+
+#####SliderBox
+The SliderBox interface requires the use of planner PC. The ROS node that reads the commands from SliderBox writes in RobotHandCmd topic.
+Also, with this interface an additional arduino is needed. The firmware for arduino is placed in Arduino/SliderBox.
+In order to run SliderBox ROS node, make sure that it is executable, using the following command:
+
+     $chmod +x SliderBox.py
+
+and run it:
+
+    $rosrun openbionics SliderBox.py "usb port" (e.g /dev/ttyACM0)
+
+Before you execute the above command, you must run the lauchn file as mentioned above (How to run ROS node).