Similar to the human hand, the knuckles allow for an additional degree of freedom between the finger and palm of the hand. The knuckles, although they do not provide the most precise movements of the hand allow for the finger to bend and grab something.
TRL 1
As defined in the design problem statement our robotic hand project will include similar aspects to the human hand, including knuckles.
TRL 2
Similar to the finger joints the knuckles will include a pinned join that allows for full rotational movement within the boundaries modeled in the knuckle