BOM:
-1kg PLA filament
-a few meters of TPU filament
-5 MG996r Servos (or equivalent)
-1 SG90 servo (or equivalent)
-Jumper wires
-1 arduino Uno board
-1 voltage meter (optional)
-1 buck converter LM2596
Videos:
MK 2 prototype:
MK 3 (final) Prototype
3D Printers and home CNC are nice things to have -- but still hopelessly inaccessible to a large percentage of the population. I can't afford either, and even if I could, I can't think in 3D well enough to churn out a model or even alter one for my needs. 3D software literally gives me fits.
Let me issue a challenge to you: make this REALLY accessible...
Your material sources are Walmart (in-store and online), common grocery stores, and Dollar Tree (in-store only), and to a lesser extent eBay and Amazon. You can scrounge things from junk piles, curbside fortune-hunting, etc, but don't rely on that to produce anything critical.
Your budget is $100 USD. Being underbudget is highly encouraged.
Your tools are a hobby knife (X-Acto or compatible), a utility knife, pliers, a pair of bit drivers with a set of basic bits and sockets (the $10 Walmart "Hyper Tough" kit in the red case), a few standard screwdrivers, a cheap drill and basic set of drill bits, a horribly cheap multimeter, and a horribly cheap soldering iron (Rat-Shack special or compatible) with 60/40 leaded solder. (Extra credit: find a way to not need the meter and soldering equipment.)
If you can make that hand with those restrictions, it really will be accessible to everyone, at least in the USA... which would be good, because I can see applications in this for medical prostheses and the like. Good luck.