ergoCub 1.2 S/N:002 – Hands issues

[giotherobot]

Robot Name 🤖

ergoCub 1.2 S/N:002

Request/Failure description

There are 2 main issues in the hands:

1. In the left hand the ring/pinky fingers are not movin at all;
2. In the right hand the index and middle fingers are unable to fully close;

In addition in both hands the thumb is loose or falling off.

Detailed context

Left hand status

Robot

GUI

Right hand status

Robot

Thumb detail:

GUI

Additional context

Possible related issues:

https://github.com/robotology/icub-tech-support/issues/1839 https://github.com/robotology/icub-tech-support/issues/1849

How does it affect you?

Very difficult to perform manipulation experiments and data collection.