HUGE BREAK!!
After so long deliberating the design choices to go with, this session I sat down and actually made progress on the design. As of last time I had developed a bevel mechanism to actuate joints, and that would be read by an encoder. This session I polished all those things, and developed the roll mechanism for the finger, which consists of 3 gears(24 -> 24 -> 12 teeth). Moreover, it just so happens that the dimensions of a servo fit approximately within the dimensions of the bevel mechanism, so I was able to fit the servo stuff directly underneath.
This provides a great form factor, and avoids the problem most servo actuated hands have with width(its only 40mm thick!). Also, I developed an encosure for the finger that is to be screwed onto a palm, thus ever finger is independently assembled, and the final design can be modular. Also, something that bothered me very much is wiring, motors and encoders between joints. Thankfully, within this design motors that drive joints are underneath the joints, which means they are closer to the wrist, and because I considered wiring, I was able to add channels and passages to hopefully get everything fitted without wires sticking out. In fact, the whole hand’s wires, should ideally come out through the wrist, allowing for compact control.
Overall, I am super excited with how this project is turning out, so stay tuned to see this get crazier ;)