My first Robotic Hand (version 2.0) was designed with no 3d printer in mind. Version 2.0 had many shortfalls and difficulties. Since then, I've gotten a TOM and have learned how to design with its limitations and benefits in mind. I present to the 'verse Robotic Hand Version 3.0. Ver 3 requires less non-printable hardware, it requires less plastic to print, less printing time, less post-print work (very little sanding), and far less pull force is required to manipulate.

Version 3.0 Video of the Robot Hand in action:
http://youtu.be/7AlyGPnU6U0

Version 3.0 Flickr Set:
http://flic.kr/s/aHsjxvAHJg

Version 2.0 for reference:
http://www.thingiverse.com/thing:2408

This model requires no scaling to compensate for shrinkage. At the very least you will only need to lightly sand the joints to get a smooth rotation along the axis. The thumb has been "frozen" in place for now. I'm planning a special re-design of the thumb out in Summer 2012. You can use Loctite blue to prevent screws/hex nuts from falling out by the constant movement. This model uses no metal bearings. The "hook" part is used to tether the fishing line to the tip of the finger. The "ring" is used to ease the model manipulation.

Stats: 32 plastic parts (10 distinct parts, the rest are duplicates). 23 M3x12 screws, 23 M3 hex nuts, 5 strands of fishing line, between 15 to 45 dental rubber bands (I used 3 bands per joint).

Questions? Comments? Kudos? :-) Please don't forget to give attribution.