This paper presents a fully actuated 4-DOF robotic finger using a joint-specific hybrid remote-actuation architecture. The metacarpophalangeal (MCP) joint is driven by two coordinated rigid-link transmission sets, whereas the proximal interphalangeal (PIP) and distal interphalangeal (DIP) joints are independently actuated by closed-loop wire transmissions incorporating circular rolling-contact joints (RCJs). A larger transmission radius is used at the PIP joint than at the DIP joint. The RCJ wire geometry maintains the total wire-loop length during joint rotation, and the DIP wire routing is designed so that PIP motion does not affect its differential actuation for a fixed MCP configuration. The distal wire transmission, MCP linkage, and fingertip kinematics are analytically modeled. In experiments, the transmission behavior was quantitatively evaluated from the ball-screw displacements measured using ArUco-marker tracking. MCP actuation produced measurable displacements of the PIP and DIP transmission units, whereas isolated PIP and DIP actuation with the MCP fixed supported the intended mechanical decoupling between the distal transmissions. The mean peak fingertip forces under isolated MCP, PIP, and DIP actuation were 21.28 N, 9.22 N, and 5.75 N, respectively. The resulting finger postures were also examined using objects of different geometries and sizes.

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