I recorded a small video with biohand's basic functionalities at the moment. The main control board is still being programmed, so moving all 5 motors + RC servo in the hand isn't currently possible.

In the video, a standard Arduino controls the thumb's servo and two DC motors, using an Rugged Motor Driver shield (that has the same DRV8801 drivers employed in the custom board).

As soon as the complete board gets minimally programmed and hooked up to the prototype, I'll post another video.