Hi. I am trying to design a pulley- cable system for a mechanical hand's finger. What my design will essentially do is drive the tendon cable over the three joints over pulleys attached at the each. I am confused about the kinematics of how a pulley system is going to work in tension to flex and extend a finger's tendon when handling a weight. Could someone point me in the right direction as to the type of pulley system I should preferably use here and the direction I should take with the design calculations. Help needed asap.