While working with the original palm design, a problem became apparent. Both the motors and the axil holders move within their fixings, meaning the finger could skip and wobble ruining the tolerance of the joint movement.

To fix this, the palm was redesigned, using the same form but to include larger mounting points for each axil holder. These parts were adpated to use two m2 screws that went into threaded inserts within one half of the palm. This fixes the part to the palm massivly improving the regidity.