Quick update! The hand is done! The gearbox assembly is driven by a NEMA 17 stepper motor with a 1:4 planetary gear reducer. The gearbox assembly uses 608 Skateboard bearings in all the joints. It was printed on a Da Vinci 1.0 printer running Repetier, using ABS filament.
The wrist is currently printing now, I am so excited to get it hooked up and running!