The left hand as designed in Autodesk Inventor, with all 16 actuated joints. The four
finger DIP joints follow their PIP joints through the passive linkage. Drag to rotate, scroll to zoom, and
move the sliders.
The viewer shows the outer shape of the parts only; internal details, gears, cables and the soft
fingertip caps are omitted.
The finger DIP joints follow a linear fit of the four-bar linkage (within about 3.7° for PIP 0–90°).
Joint limits are not yet measured on the hardware: the finger MCP abduction range (±20°) is a
placeholder, and MCP flexion is limited to about 95° in the viewer.
CAD downloads (URDF, STEP and printable STL files) will be released later.