That all was done in "indexing" mode, and doesn't seem to have used more than 2 angular positions. So it really didn't require a 4th axis at all, just a way to flip the part over and carve the other side without losing registration. But the 4th axis, if you have it, is a good way to achieve that. I'd suggest DeskProto (which I sell at a discount) for CAM software that will do this with a minimum of difficulty and expense. It also offers "live" 4th axis routines where the piece turns as it's being machined, but you won't need that for these hands.
Andrew Werby
computersculpture.com