Here is a soft robotic hand that is made with 3D printed skin and skeleton. It has 15 degrees of freedom. It has a single flexible part made with a 3D printer that can perform adduction, flexion, and opposition of the thumb, as well as flexion of four fingers. As the researchers explain, the main body is made of one flexible piece with elastic 50A resin.
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Five-Fingerd Robotic Hand by 3D Printing the Skin and Skeleton as One Unit (IROS 2023)
The fingers use one tendon for flexion. The tendons are routed inside the skeleton to avoid damaging the skin. According to the researchers, these can be assembled in an hour.
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