Different design of the servo pulleys for the hand of the InMoov 3D printed robot. The robot is designed by Geël Langevin. You can find all the original designs at http://www.inmoov.fr. I modified the servo pulleys to have two tracks with different diameters, because the lines need to be pulled a longer distance when the hand closes than when it opens. The pulleys have 25 splines. A video of the first test can be found here https://www.youtube.com/watch?v=gwx3JIakDV0. Use the larger track to close the finger, and the smaller track to open it. I created on more video to show the difference between the original pulley and the new. It also contains a sequence showing th whole hand. https://www.youtube.com/watch?v=b5S-8hjsMr8
Updated with an alternate design, with two extra holes that can be used for screws to tension the lines.
Printed in PLA. Then I used a heatgun to make the PLA a little soft before pushing it on to the servo.
How to tie the knots
This video explains how to position the servowheel and tie the knots.