Each individual finger is controlled by a fully rotating servo, this way the full hand will have more control over grip strength. For this grip strength we have a notch for a FSR sensor, this sensor measures the force. With this data we can determine how hard the finger may pinch before it stops.

This sensor will be hidden under a flexible pad for increased grip.

 

Furthermore, the finger has stoppers to prevent the finger from over extending. An amputee we talked to said this would be a nice function for pressing buttons.