This is an animatronic hand I built. The fingers, the palm and the forearm are entirely made of wood (poplar to be exact). The fingers are articulated by tendons (fishing line) pulled by motors. Right now, the 5 servo motors are controlled with an Arduino UNO. This protoype can perform a good amount of different "grips" and take or pinch pretty much everything. The hand as an amazing amount of strength even if the parts are made out of wood. Overall, it's a very compact and strong hand and I'm really happy with the results.
Feel free to ask questions about it ! I'm not really into writing hundreds of lines of documentation about what I make, so go ahead !
Thank you for your interest and keep on rockin' !