The purpose of my project was to design a hand with a human-like movement which could grip 1kg and which had to be affordable even in mass production.
The design was really a lot influenced by the production price.
The mechanical system which allows imitating the human movement with only one actuator per finger is patent pending. Each finger stays independent.
In addition, the thumb can change is position to adapt to several grip strategies.
In comparison with the 3D printed hand, mine is designed for heavy duty. I am using gears in aluminum which allows me to use some powerful actuators.