This is a Bricard mechanism (1-DOF closed Linkage) which is designed to mimic Thumb motions. The desired path is shown by stars in the video. The mechanism is modeled in SolidWorks. The end-effector of the mechanism which is a point on the third link is following the path quite well. The mechanism is designed by approximate synthesis.
Here is the publication:
[ Ссылка ]
![](https://i.ytimg.com/vi/47aGg1449WU/mqdefault.jpg)