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How Do Nao's Hands Work?

How Do Nao's Hands Work?

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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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#1  

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

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#2  

In addition to @doc's post,

User-inserted image

Each hand has it's own servo.

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