Research on Kinematics Planning and Simulation of Dexterous Hand Multi-finger Operation

Bohan Lv, Yue Zhong, Shan Liu, Xiaobin Hu, Guangshang Zeng


In the process of multi-finger cooperative grasping and manipulating objects, dexterous hand operation is accompanied by the movement of the object, finger joints and contact points between object and finger. Theoretical research on multi-finger operation kinematics is presented in this paper, including analysis of the stability and operability of the grasping action, modeling kinematic equations of instantaneous operation and analyzing the activity of finger-object system. Finally, kinematics simulation of dexterous hand multi-finger grip is achieved, verifying the effectiveness of multi-finger motion planning method.


kinematics planning, dexterous hand, multi-finger operation, motion control


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