1.

This example hand has exactly 20 dof! I know thi* *ecause there is 4 for every finger except the thumb so 12, the thumb has 5, which makes the total 17, then the 3 dof in your wrist makes it a total of 20.

2.

It acheives so many dof with only 6 actuator* *ecause each actuator allowed the finger to move in multiple directions, allowing much more than just 6 DOF.

​Telsa Hand Questions

1. 

From my analysis I can see each finger has 2 DOF and the thumb has 2, so a total of 10 from the fingers, next I can see that the wrist can rotate but can go up down, so 1 dof therefore I can conclude that this information was correct and this hand only has 11 DOF.

2.

The actuators in this hand act like muscles in our hands this therefore allows these fake hands to move as if normal like ours.

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