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Design tightening mechanisms similar to how you tighten guitar strings

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whippletree for raptor hand - Google Search

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The e‑NABLE Phoenix v2 incorporates a "gripper box" instead of the tensioner seen on earlier designs. This can also be retrofitted onto a Raptor Reloaded hand. The gripper box incorporates a whippletree which serves to distribute the force between the four fingers. This video demonstrates how the whippletree operates.

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How a whippletree works in an e-NABLE hand

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The e-NABLE Phoenix hand incorporates a "gripper box" instead of the tensioner seen on earlier designs. This can also be retrofitted onto a Raptor Reloaded hand. The gripper box incorporates a whippletree which serves to distribute the force between the four fingers. This video demonstrates how the whippletree operates.

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DaVaHaG - Dynamically Variable Hand Grip tension box - e-NABLE Forums

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Great idea. I think the cam box is your way of making it happen - but what is says to me is just a linkage system that can at its simplest be de-coupled and at it's most complex be coupled/decoupled in a 'pattern'.