a mechanical finger which visually and functionally resembles a human finger . the finger consists of three phalanges pivoted in their clevises . the first phalange is driven by a rod located in an arm and being connected to an actuator . the second and third phalanges are driven by tendons . the tension of the second phalange tendon is initiated by the movement of the first phalange and the tension of the third phalange tendon is initiated by the movement of the second phalange .