Voice coil actuators:

• These are really cool but really expensive.
• They can output up 300lbs of peak force with a continuous force for 100lbs.
• They are very responsive and maybe good for feedback if they weren’t so expensive because even if it wasn’t powerful enough to push your finger you would still feel the force.

Other Options:

• Looked into some other type of speakers.  Surface transducers can turn any surface into a speaker.  The problem with these is that they are too big.
• There are little speakers that are found in computer cases that I want to see if they will work.

Repairing the hand:

• I am not usually one to personify inanimate objects but I’m pretty sure the index strain gauge connection hates me.
• For whatever reason the glue was not drying quickly today.
• Attached wires to terminal pad but not SG because glue wouldn’t dry quickly.