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Requirements

  • 1 DOF per finger, 2 DOFs for thumb and 1 DOF that expands and contracts distance between fingers

  • Hand assembly difficulty is at maximum the same as the current hand

  • Bowden concept is still used instead of direct drive

  • Force and touch feedback

  • Soft layer for gripping

  • Robust and not easily broken

  • Palm flex DOF to oppose pinky

Example designs

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