I finished the 6 DOF robot hand for my project Te no atama today. Here are some pictures. The thumb has two degrees of freedom. The primarily function of the hand is to display hand gestures. A 2 DOF wrist will be added. All servos have a metal gear and are digital.
Well done Markus, looks good. But why te efford (and the money) using those expensive servos when the hand is just doing gestures? A 16 Yuan 9g Micro servo would do the job too.