Now there is a working design for the robotic finger, the hand layout is being designed again.

Here is the first run of the design, involving the placement of all the fingers including the thumb. The palm section of the hand will be made of a front and back part that will attach together holding the fingers together.

Currently each joint is the same length, and this hand is not complete. However the length of each joint can be adjusted later if appropriate. However for now keeping consistant lengths will maintain simplicity of testing.

The thumb is based off a rotating joint in the palm, connected to three hinge joints to complete the DoF of the human thumb. There is the hope the thumb will allow the hand to grasp many different types of objects.