At least one of these sensors will be used to measure the contact presure of an object on the finger of the robot hand. Several sensors have been selected to test.

The addition of a Condyloid joint at the base of the finger offers the robot hand similar freedom of movement to a human finger (currently four degrees of freedom).

Learning from the limitations of the previous prototype, a second joint was designed.

Choosing a method of detecting and tracking the angle of each finger/joint is an important one. As this sensor will be wholly responsible for keeping the accuracy of the position for each joint. Any error can be amplified due to the serial nature of the hand.