| | Parameters | Designations |
| | The applied force with an angle of to the axis of the corresponding phalanx | | Maximum tension developed in the cable | | , , | Lengths of proximal, middle, and distal phalanges ( for the thumb), respectively | | Effective length of the distal phalanx, for the thumb | | , , , and | Fixed, driving, junction, and input bar, respectively | | , , and | Bending angles of phalanges with respect to the plane of the palm | | , | Bending angles of and were measured from one phalange to another, respectively | | Angle between force at the tip of the finger with the axis of the phalanx | | , , , and | Angles of the phalanges of the mechanism with respect to a plane parallel to the plane of the palm | | Trapezometacarpal articulation | | Thumb metacarpal | | Operative length of the second phalanx | | Bending angle of according to palmar plan | | Bending angle of according to (fixed angle) | | The angle between the second phalanx axis and the various links | | The angle between and the various links | | Length of the input bar, | | Length of junction bar, | | Length of driving bar, | | Length of the fixed bar, | | , , and | Diameters of phalanges and and width of links, respectively | | Eccentricity | | Pulley diameter | | Bar thickness |
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