I have a project to design a hand exoskeleton for hand rehabilitation. The problem is that i'm thinked I only need the linkage mechanism with multiple 4 bar linkages. But because of human fingers joints and linkage supports on middle of each phalange I realised that there are 5 bar linkages and I really can't figure it out how to solve it or what equations should I use. The mechanism is driven by one actuator. Any help would be appreciated!
Here's an image for reference.