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
Shadow hand Shadow Dexterous Hand Series - Research and Development Tool - Very similar to intended design
Dexterous hands The Dexterous Hands – inspire-robots