Side and top views of the modular fingertip and middle phalanx, showing the tendon layout (red line), elastic band (blue box) and phalanx connecting rod (purple box)

Three independent tendons pass through the five fingers, grouped into the thumb and index fingers, middle and third fingers, and little (pinky) finger. All tendons are coupled with a coupling mechanism at the base of the palm. The tendon ends pass through distinct channels of the tendon coupling mechanism and are fixed in place by knotting. All tendons are driven by a single actuator.