The hand received fingers positions through serial.
The serial command to control finger positions is as follows:
0,0,1,0,1,0,1,0,1,0.5,1;
The first '0' is constant. The next numbers are by pairs: position and speed.
Each position and speed are constrained to the range 0-1.
For example, the command above sets the first finger at position 0 at speed 1; The last finger is at position 0.5 and speed 1.
Full open:
0,0,1,0,1,0,1,0,1,0,1;
Full close:
0,1,1,1,1,1,1,1,1,1,1;
Full close at variable speeds for each fingers:
0,1,0.1,1,0.2,1,0.4,1,0.6,1,0.9;