I am in my second year of mechatronics and robotic systems with the university of Liverpool and i am looking into parts for my FYP. The problem is i really don't know very much about servos or motors.
My basic specification is the hand needs to be able to at least grip and hold an iron and be capable of many other domestic tasks the second one i am looking at may be opening a jar or perhaps being able to grip, hold and operate a kettle.

Please note this is just the hand to be attached to a larger domestic robot so its main functions are to grip and be capable of holding onto objects while they are being moved about. With regards to opening jars I have only really come up with one solution to have the whole hand on a rotary wrist.

The hardware to be used is ARM i don't know what processor or board yet as i am hopping to get in contact with arm themselves for advice on available mini boards i could build into the hand itself. Failing that we do have access to and ARM educational board with a screen attached or possibly an educational altera board.

Please any help you can offer would be greatly appreciated, my main ask is about servers and motors tho as i will need to get them ordered soon. However any other advice would be greatly appreciated and is more than welcome.

regards
Benjamin