After countless hours of work I finally managed to make a compact 2DOF technic finger. It was roughly the size of a real human finger, with roughly the same Degrees s Of Freedom, minus the base. I made two full fingers, a smaller pinky finger, and an even smaller thumb. they all worked very well. Unfortunately, I needed the pieces for other things, and had to take it apart before I could take good photos. I think I still have one finger together, so I'll try to get better pics up soon.