The human hand has more than one finger of course, and none are the same length. The middle section of each finger has been adjusted to give the individual finger lengths, but as much is being kept consistent between fingers as possible to keep bill of materials down.

Here is the current state of the hand, as can be seen each finger is angled slightly and each joint matches quite well to the diagram used as reference.

The next step will be to add to thefunctionality of each finger, allowing for the mounting of the actuators and building a dedicated test rig to hold each finger, as well as 3D printing prototpyes for each finger.