Just a recap of what I used to design the prosthesis.
Since I am an electrical engineering student, I do not have much experience with mechanism design and simulation. So I have been trying to find an easy and intuitive tool for me to do so. The trajectory of the finger module is designed using Linkage, an amazing and easy to use simulator. You can find more information about the software here: www.linkagesimulator.com
Here is a video of the Linkage project used to create the finger trajectory:
The file is also included in this project of Hackaday.