Forearm, Wrists & Hands
The 5 degree of freedom lower arm and hands are developed by Meka, Inc. with MIT. The lower arm has forearm roll and wrist flexion. Each hand has three fingers and an opposable thumb --- the thumb and index finger are controlled independently and the remaining two fingers are coupled. A slip clutch in the wrist and shape deposition manufacturing techniques for the fingers were used to make the system ruggedized to falls and collisions. The fingers compliantly close around an object when flexed, allowing for simple gripping and hand gestures.
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