For a school project Instructables user "pablo_g16" decided to create something not seen before and thus created his "Handroid" animatronic hand. It's a stellar effort, and uses five Arduino-controlled servos to control the fingers. The fingers are made from scored rubber tubing, and the servos pull the fingers back via fishing line. The author mentions a lot of trial and error, however for a first project of such complexity it's a great job.
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