The main feature of flexy finger design as shown in Fig. \ref{FlexyDesignMechanism} was the origami folding will be located at the joints of the fingers to coordinate with the extending and flexing action of the fingers during the moving process. The mechanical system of the finger is been designed into at least three segments to coincide with the three section of the finger (excluding thumb). It was observed that the folding had the tendency to block the bending movement due to its folded large surface area. Therefore, the folding was cut to minimum size so that it will not block the bending movement. This will limit the material use of for the design while retaining the flexibility of the finger mechanical system.
For each segment, a hard paper of dimension 40 mm x 60mm was been cut. It was then folded into a rectangular segment of (20mm X 30mm X 10mm) with a triangular origami folding that provides a bending angle of 70 degree, which is the basic dimension of the segment in the flexy finger design and changes was made to suit each finger system.