A little late.

   Thanks to work commitments Its been a little while since my last post, I haven't made much progress but enough to warrent a post here. I'm using the mobile version of Blogger so I'm not sure how this will appear on the site, I'll edit it when I get home if I have to (I did have to!).

   I have no idea where the picture is but it shows a servo receiving an input from a 1 pound pressure sensor. The Arduino maps the servo angle in relation to the pressure being applied.

Put simply-
0 degrees = no pressure applied
90 degrees = 50% maximum pressure applied
179 degrees = maximum pressure applied

   I'm currently using a modified version of the example code for smoothing an analogue input, I found taking the average of 20 samples every second gave a relatively smooth output to the servo. Its not perfect but it will do for now.

   The plan is to use the sensor in the jaw of the robotic arm, I'm hoping I can simply send a command to close the jaw and it will grab the object applying a present pressure. It shouldn't matter what size the object is as the jaw will keep closing until the pinch pressure is met. The weight and balance are a different matter again requiring a different solution.