The manufacturing of the prototype utilize additive manufacturing or 3D-printing of Ninjaflex, as shown in Fig. \ref{3DPrintingofFingerMechanismusingNinjaflex}.
The utilized thermoplastic elastomers (TPEs) material is flexible in design, high-performance and ease of processing, which is becoming a material of choice for many designers \cite{yarwindran2016thermoplastic}.
Limitations were found during the prototyping process of the mechanical system. It is observed that 3D products tend to have material fibres when there are empty spaces in the design, which cause difficulty in polishing and cleaning of the prototype (Fig. \ref{3DPrintingofComponentforExperimentalsetupusingPLA}). Moreover, structural support sometimes blocked up spaces, which made the insertion of wires to be very difficult.