However, new modifications must be made on the design of the thumb (Fig. \ref{DesignProcessofThumbMechanism}). As the thumb requires 2 DOF, spring mechanism which provide the movement of adduction and abduction must be added at the end of the thumb mechanism so as not to affect the movement of flexion and extension of the finger in the progress. Different forms of spring mechanism are designed to test if it can have performed the abbuction and abduction successfully. It turned out that Design 3 of Fig. \ref{DesignProcessofThumbMechanism} can perform this function and was later combined with the Flexy-Design which provide the flexion/extension movement of the finger mechanism.

Manufacturing Methods