CHORG II webpage
I just finished the second version of a robotic arm prototype - CHORG II - with a third version to follow soon: CHORG II hardware
It's fully equipped with three touch sensors, one slip sensor, a camera and a microphone. It has ten servomotors, six to control the arm and four to control the gripper. All ten servos are digital with metal/titanium gear. The arm's length, from shoulder to the gripper's centre, is about 18 inches or 52 centimetres.It's capable of lifting about 1kg.
I also develop a software package to provide adaptive control for the robotic arm. You can keep a track on my progress at: CHORG II Project