Table 2 Parameter definition of the active side.

Parameters	Definition	Notes
HZ	Folded overall height	Changes with the capture assembly structure
HL	Worm gear height	Mechanism design
XA	Distance from Point A to the axis	Mechanism design
XB	Distance from Point B to the axis	Mechanism design
HB	Distance from Point B to the mating surface	Mechanism design
hd	Guide post height	Positioning accuracy requirement
Pm	Axial capture range	Capture range requirement
dm	Radial capture range	Capture range requirement
Dm	Maximum opening envelope	External envelope constraint
L1	Drive section length	Mechanism design
L2	Linear motion section length	Mechanism design
L3	Fingertip length	Mechanism design
TL	Finger back length	Mechanism design
Th	Fingertip thickness	Mechanism design
Td	Fingertip width	Mechanism design
θ	Angle between drive section and linear motion section	Mechanism design
Hm	Distance from point A to worm gear after folding	Mechanism design
he	Distance from fingertip compression surface to mating surface after folding	Mechanism design
S	Effective stroke of the lead screw	Mechanism design
D₃	Diameter of locking preload force application	Mechanism design
D₄	Layout diameter of arcuate rack	Mechanism design

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