Twenty small servo motors articulate the fingers, and three larger servos control joints within the hand. An Arduino Mega controls the hand with the aid of two PCA9685 PWM drivers.

Servo motors directly actuate all of those joints, meaning there are 18 servos in total.” “While robots can get around on two legs (or even none), it is difficult to get a smooth and efficient ...

The idea early on was to leverage existing Arduino libraries to connect with a standard USB mouse, specifically, the hardware would take the form of an Arduino Mega 2560 with a USB Host Shield.