Design Pivot: Potentiometers trump IMUs

After considering the pros and cons of IMUs and researching alternatives for determining hand positions, it has been decided to instead sense joint angles with angle sensing potentiometers. These angle sensors from Murata have alleviated a lot of issues that were found with the IMUs such as environmental sensor bias, repeatability problems, and accuracy. The work done on the IMUs is not completely lost however! The IMUs are still being considered for determining the orientation of the hand by being mounted on the back of the hand, which can help for properly describing the absolute position of the fingers with respect to the hand.