The previously talked about universal joint prototype failed. The connecting parts were too thing annd broke during assembly, and so a different design is required.

This new design is based around the tried and tested hinge joint used within the finger. These joints are know to be strong, to a good tolerance and easy to print.

These have been extended as to add clearance and attache onto a ball in the middle, andont he other end connectors to interface the joint with the rest of the model.

Each joint is designed to attach a potentiometer for angle tracking.