Tutorial: How to make a hand, a robot hand?

Everything starts from a dream: I play piano.

How about the keys of the piano is hit by a robot hand?

Step1: a prototype that works is half of the success

Everything is designed by SolidWorks, and made by 3D Printer

The controller and electronic components are from Arduino Starter Kits.

Give yourself sometime to enjoy the first success!

Step2: Make a palm and two fingers, capture the first object

Step3: Make the arm, link with five fingers, and grasp a pen firmly

Step4: Program it a lot to act like play piano