An algorithm suitable for real time grasping force control of multi fingered hands is proposed.

Under-actuated humanoid robot hand with changeable grasping force;

As the grasping ability is greatly affected by the postures of the robot,the influences of the finger posture and the robot posture on the grasping ability of the multifingered robotic hand are discussed to seek the most favourable grasping mode.

Besides precision grasp, when dexterous hand doing power grasp operation, due to the complexity structure of dexterous hand, the bearing capacity of the dexterous hand, that is when dexterous hand grasping a certain weight of the object, whether the structure stiffness and strength meet the requirements is a ignored problem.