The singularity and smartness of the robot mechanism were discussed by way of ascertaining the indices of operability and condition number of Jacobian matrix.

According to the obvious changes of the transmittance of ER fluidsunder an applied electric field, an assumption on the application ofER fluids to smart windows is presented inthis paper.

The materials of each layer in smart windows were investigated and prepared.

The development and application of composite membrane materials and devies used as electrochromic smart windows are reviewed.

The fiber sensor and its application in smart structure;

So called fiber optical smart structure and skin, such as embeded fiber optical sensors into some cumbined material parts and skin, monitor various physical states of the materials, detect and predict various kinds of damages in the combined material and structure at any time.

The configuration, characteristics, embedded technique and application of severalkinds of optical fiber for smart structure and skin are presented.

Application of FPGA-based embedded system in dexterous robot hand;

The dissertation combines with the national advanced technique project, which is called“Research on new generation dextrous robot hand with five fingers and coordinated control”, a control system of the dexterous robot hand, which is based on FPGA(Field Programmable Gate Array) and NIOSII dual-processor, has been des.

Motion tracking and recognition of human hand in master-slave manipulation for dexterous hands;

Position/torque control of multi-fingered dexterous hand;

BHG-1 is a novel full-driven flexible dexterous hand with three fingers,its control system comprises of a host computer and a slave embedded controller,which two communicate via RS-232.