Getting the finger to move is a hard task, getting it to move accuratly is even harder.

Here is a video demonstration of bang-bang (on off) control of a single motor on a single finger joint. This uses a very basic closed loop control from a joint mointe potentiometer taking to try and get the finger to a desired setpoint, set by another potentiometer.

The program used reads the axis attached pot and comapres that value to the control potusing a set of map functions and comparisons. If the value is not asdesired the motor is driven in the required direction. This is very simple and primative control as can be seen by the video But this is a good start to show basic control.

The required next step would be to move the control point for the acuator in line with the axis of movement and replacment of the wire, which is currently simple a0.2mm aluminium wire from multi-strant electrical wire. kevlar thread is currently on order and will replace the wire when it arrives.