Using dynamic equation base on the screw theory for open-chain manipulator,we derive robot arm and dexterous hand dynamic mode and the equation of external force on the joint,study the connection between the two model,and put forward a robot arm&hand system dynamic model,and resolve error cumulation problem by violation correction method.

The experimental results show that the model is convenient,it is suit for robot arm/hand system,and it is in favor of computer solution.

Cartesian impedance control for HIT dexterous robot hand based on fingertip force sensor;

As an important tool to improve intelligent and manipulative levels of the robot, multi-sensory dexterous robot hand has become one of the most promising researches in robot field.

As an important constructional part, hominine dexterous robot hand is affecting the intelligent and manipulative levels of the whole robot system.

Based on FPA,a type of flexible pneumatic bending joint was proposed,the bending joint can be used for designing robot dexterous multi-fingered hand.

Conventional robot arm has only actuators similar to mono-articular muscles,though animal s arm has not only mono-articular muscles but also bi-articular muscles.

This paper proposes a new spring balance structure used for the robot arm.