Task-based finger force analysis for robotics dexterous hand

This paper presents a general method to obtain real-time finger force for a three fingered dexterous hand in the process of operation task. On the basis of analyzing the kinetic model, the specific algorithm of the optimal contact force is proposed. The key of the algorithm shows that direction of the force is handled off line and the magnitude on line separately. The algorithm can satisfy the requirement of coordination operation of force in real time. And the usefulness of the method is illustrated by a specific task.