Now the current design is reaching completion, the full assembly of the finger is underway. The control wires run down the centre of the finger to keep them tidy, free from external obstructions and to keep the actuation along the axis of the finger.

This shows the assembly of the finger away from the universal joint with the four control wires exposed ready to be motor controlled.

Here is the finger fully assembled onto the test stand. The universal joint still has some issues and requires some design changes, similar to the single axis hinges for those Dof to be fully contorllable.