Now the second prototype is finished. The current design will be evaluated leading towards a third prototype.

Current state of the design:

This design offers approximate equivalent freedom of movement to the human finger. The bone like shape of the design offers flexibility for the mounting of sensors or the control of the finger.

Improvements in the next iteration:

Reduce the number of bolts required for fixing

Reduce the size of the condyloid joint without restricting movement

Make the bolt holes tap size to remove the need for nuts

Integrate angle sensing mounts into the design

Add mounting points for external modules to the frame

From this point, work on the second prototype will stop, and the changes and improvements will be built into a third prototype