Tesla's Optimus V3 robot hand looks to have been revealed in a new international patent published today.
The patent describes a tendon/cable-driven hand:
• Actuators in the forearm
• Each finger has 4 degrees of freedom
• The wrist has 2 degrees of freedom
• Tendon-driven system: 3 thin, flexible control cables (tendons) per finger run from forearm actuators, through the wrist and into the fingers.
• Advanced wrist routing: Cables switch from a lateral (horizontal) stack on the forearm side to a vertical stack on the hand side, plus a transition zone to minimize stretch, torque, friction, and crosstalk during yaw/pitch movements.
• Integrated control cable channels in the finger segments and precise routing (behind some joints, forward others) for selective bending.
The full filing is in the thread below if you want to read more about it: