Reducing H-bridge inputs for multiple motors with same direction
simulate this circuit &ndash; Schematic created using CircuitLab

Figure 1. Where all motors only move the same direction one high current half-H-bridge can manage the motor common with individual half-bridges controlling the individual motors.

Number of switches required, \$ n = 2 + 2m \$ where \$ m \$ is the number of motors. For five fingers 12 control pins would be required. (With individual H-bridges 20 would be required.)