You can download Build Instruction BuildinstructionP0.pdf from the files section here of from

https://github.com/DrOnkel/Rehab/tree/ReHab0

Supplement to the main Instruction - mathematics and calculations of 5-bar linkage and some program specification. You can download from the files section here of from

https://github.com/DrOnkel/Rehab/tree/ReHab0

We use the simplest analogue servo. You can use any kind of servos.  The bases, lever arms are shown in a figure:

The only difficult part of mechanics component fabrication is lever arm 12. The perforation on arm must fit servo shaft perforation. We make perforation by drilling 20 holes via 18° (our servo shaft has 20 teeth) with 1mm radius drill with centers on the R=1.87 mm circle.

The size of components are defined by the servo in use. We made all drawings for Servo mini SG90 9g Tower Pro. Here is one block

We use 3/4-inch size Magnetic Button Clasp Snaps. It is screwed with two node lever arms so it can be rotated.

We took plastic breadboard and install 5 blocks on it, for example it is left hand drawing

Here You can see the breadboard with installed blocks and fully assembled

The bottom basde breackboard is closed by second breadbord (cutted)

Program code is Arduino IDE compatible. You can download code from git hab  https://github.com/DrOnkel/Rehab/tree/ReHab0  or Hackaday project file section.

Download the program to Your Arduino Nano using Arduino IDE. You can download it from arduino.cc .

The movement is defined by arrays MassX[8][2]. It contains 8 main points of finger base path. The movement between main points is calculated using linear interpolation. The full review of program code is in Program instruction.