This paper describes the design and optimization of a novel five-finger haptic glove mechanism, which uses a worm-geared motor and an antagonistically routed cable mechanism at each finger as both active and passive force display actuators. Existing haptic gloves either restrict the natural motion and maximum output force of the hand or are bulky and heavy. In order to tackle these challenges, the five-finger haptic glove is designed to minimize the size and weight and maximize the workspace and force output range of the glove. The glove is a wireless and self-contained mechatronic system that mounts over the dorsum of a bare hand and provides haptic force feedback to each finger. This paper describes the mechatronic design of the glove and the method to optimize the link length with the purpose of enhancing workspace and the force transmission ratio. Simulation and experimental results are reported, showing the future potential of the proposed system in haptic applications and rehabilitation therapy.