The difficulty with controlling the robot with the wire method, as used currently, is the difficulty in controlling multiple degrees of freedom in a series setout while keeping all control acutation inline and not obstructing other axes.

This has caused difficulty with the current design, as when one degree of freedom is controlled the actuation works well, as shown previously. However, when multiple axes are controlled the finger tends to lock up, suffering from a mix of tollerance/ design issues with the actuator location and lacking power within the motors to overcome these inefficiencies.

The probable solution to this will follow in another article.