Today I completely redesigned the finger of my robotic hand. The flexor tendent now runs along the bottom of the finger opposed to the top according to human anatomy and as such grants a lot more grip strength and fluid motion. the only downside to doing things this way is that I no longer have control over every individual segment decreasing the amount of possible grips. However one thing I noticed when testing the prototype is that the grip is self forming which means the finger will bend only the right segment when grabbing a round or square object. The only thing which I kept from previous versions is the contracting tendons in the form of a bungee cord running along rollers at the top of the finger.