The display stand and cam-followers of the model were built from the "Cam A" template in the "Karakuri: How to Make Mechanical Paper Models that Move" by Keisuke Saka. However, I made some edits to the template for the purposes of this model. The followers, as well as the connection between the cams and followers, were resized to fit four cam-followers. The cams were placed on the crank each with an offset of 90 degrees from each other. In the display stand template, the square marked to be cut out was ignored and four smaller squares were cut out in a row at even intervals to fit the four fingers. I designed a template for the four fingers after studying the video of the original Rob Ives "Impatience".
My final model:
