[JesseK]

The beauty in this design is the coaxial sprockets on the joint at the very top. The one that hooks to the wrist can be hooked to a non-backdrive motor on the very bottom of the robot -- keep ing c.g. low while also adding another degree of control/extension. The beauty in that is that the drivers shouldn't have any extra buttons to control it since the wrist movement is limited enough that software can pre-determine its positions.

I tried to get our team to prototype something like this (not a criss-crossing one) this Fall, yet was overriden by a mentor who borrowed a compound lift from 116 that we used as a teaching tool instead....

Best of luck in 2011 842!