Currently the project is held up by the embedded camera development. Although we seem to be on the verge of solving this, having today had our first image from the camera. Once proven the PCBs will be ordered and the final system assembled.  80% of embedded software has been developed included image processing on the PIC32 system. We estimate that within 4 to 5 weeks we will have the TACTIP sensor on the ELU-2 hand.