To overcome the design and implementation issues as mentioned in the previous article. The finger control mechanisum has been redesigned.

Instead of using control wires to keep the motors in the finger base, the motors are to be embeded within the finger itself. Allowing for simple control of finger anghle using the same potentiometers for feedback and bevel gears for transfering the motor power onto the axis of movement.

The main downside to this is the enlargment of the finger that is required. Originally such designs were discounted due to this. However, as a proof of design concept, and thanks to design difficuties in the previous method, this design has taken priority and has been given one week to test, after which the two designs will be evaluated and the sucessor decided.