The main issue found so far with this prototype is, it does not evenly bend. One joint typically bends a great deal before the other then starts.

Each joint moves freely, and to limit this issue in this design. The elastic has been tied at each finger joint as to limit each joint's effect on the other. However this is still not ideal.

Potentially, each joint may need to be sprung independantly, and perhaps controlled individually instead of with a single tendon like controil wire.

Carefully setting the length of rubber for each segment has minimised the issue. But this may not be practical when in use, or stay consistant.

Below is a breakdown of the benefits and drawbacks of this design

Desired features in future iteration:

• thin, bone-like shape
• Internal spring/elastic mechanism
• built in joint control method
• maintain modularity
• allow sensors to be added/ removed without complete disasembly
• Allow for extra degree of freedom around the base of the finger, similar to human fingers