Here is some math I did regarding the motor and pulleys for the finger actuation.

64:1 downgear ratio

24 inches total draw onto motor shaft 24 / 64 = 0.37" draw at finger joint

2430 motor 5900kv at 12v RPM = kV * V RPM = 5900 * 12 RPM = 69600
69600 / 60 = 1160 revs/second 1160/2 = 580 revs / half second
580/2 = 290 revs / quarter second

if motor reels around 1cm / rev then in quarter second it reels 290cm...
and 30cm = 1 foot so 290/30 = 9.6ft/quarter second maybe it only reels 3/4 of
that? even so... around 9.5ft/quarter second - and quarter second is the
speed of a human finger moving... we only want to reel 24 inches... and
it is reeling 9.5ft so if it only reeled 24 inches that would be human
speed... so if it only reeled 60cm that would be human speed... but it
reels 290cm... around 4.8x human speed!

now for strength at this 64:1... an online google search said a 2430 motor
can pull 60 g cm... 120 g at 1/2cm 240g at 1/4cm maybe we are around
between 1/4cm and 1/2 cm away from shaft of motor on average... so 190g at
that distance... 190g is 0.42lb... 0.42 lb * 64 = 27lb

so a single finger joint can do 27 lb dumbell curls ALONE - well wait since
it's lifting a lever at the joint, it is much lower than this maybe 1/5
of this so 5.4lb dumbel curl is more realistic...

now this is all for torque at efficient natural movement speed...

what about stall torque - IE how much can it just HOLD in place like rock
climbing dead weight it can't move but can hold steady?

it's stall torque is around 280 g.cm compare that to its normal torque
of 60 g.cm so 4x... so it can HOLD steady around 20lb! that is about what
my finger can hold steady for a single finger tip!