Table 4.

Structural parameters for the medium finger curling mechanism

Length (mm)	Angle (°)
G x = −40.93	α = −135.2
G y = −28.68	α2 = +59.18
G1x = −59.64	δ = +9.520
G1y = −25.40	δ2 = −24.25
d1 = +36.28	γ = −39.29
d2 = +49.12	γ2 = 2.057
d3 = +19.05	μ = −19.67
d4 = +34.43
d5 = +20.18
d6 = +70.30
d7 = +92.68
d8 = +76.20
d9 = +69.80
d10 = +76.20
d11 = +55.30
m = +47.24
m2 = +101.20