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Asked — Edited

How Do Nao's Hands Work?

I would like to know how NAO's hands work (if anyone knows). He only has 25 servos (one more than my robot) yet can independently open/close each hand. If anyone knows how, i would like to know! thanks.

EDIT: What I'm asking is how one servo can operate two hands independently if all the other servos are used for his body movements.


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Here are the servo counts:

- Head 2 DOF

- Arm 5 DOF in each arm

- Pelvis 1 DOF

- Leg 5 DOF in each leg

- Hand 1 DOF in each hand
United Kingdom
In addition to @doc's post,

User-inserted image

Each hand has it's own servo.