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how the fingers work

the fingers are moved using wires and tension.

each finger is looped through with a wire/string/line in a top-bottom fashion.

when the top wire is loosened/bottom wire is tightened, the finger curls in its joints, resulting in a "bent finger". 

you don't have precise control of each joint movement, but it is simple enough to be controlled by a single actuator (in this case a servo). 


here is me just using my own hands as an actuator:


here it is hooked up to as servo and controlled by a potentiometer:


the movement is not smooth because
1) it's controlled by a potentiometer that I am controlling, as seen in the background, and I was unable to move it all the way with one smooth finer motion.
2) the tension in the line was not entirely tight. I need to learn how to tie these well.

now I have a get a bunch of servos. 


much credit and thanks to Inmoov once again.


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