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

• Motors used are brushless

Example designs

• Shadow hand Shadow Dexterous Hand Series - Research and Development Tool - Very similar to intended design

• Dexterous hands The Dexterous Hands – inspire-robots

• Dex hand DexHand - An Open Source Dexterous Humanoid Robot Hand | The DexHand is an Open Source Dexterous Humanoid Robot Hand. It is intended to be a low-cost R&D platform for exploring grasping and manipulation for robots intending to use humanoid hands as their interface to the world.

Possible components

• Robotic Finger Sensor v2

• Feetech serial servo

• Flex Sensor 2.2" /4.5" Inch Bending Force Sensor Robotic Finger Bending Thin Film Resistance Flex Sensor 2.2" /4.5" Inch - Buy Bending Sensor Electronic Glove Robot Finger Bending Test Thin Film Intelligent Robot Robot Arm Electronic Component Product on Alibaba.com