The human hand has more than one finger of course, and none are the same length. The middle section of each finger has been adjusted to give the individual finger lengths, but as much is being kept consistent between fingers as possible to keep bill of materials down.

The robot hand will be controlled using the Robot Operating System, a collection of software designed to simplify the design, control and programming of a robotic system.

Now the second prototype is finished. The current design will be evaluated leading towards a third prototype.

One issue with the original joint was, when fitting the internal ball part, the outside could split. A thicker outside was then printed however this lack in flexabliity caused it to fail very quickly.

To solve this issue, the outer was rinted in two parts, so it could be closed around the ball, removing the risk of splitting.