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根据手指和物体间相互作用的关系，把控制任务进行分解，每个手指作为一个子系统，由低层控制器控制，各子系统由协调层协调，各控制层只完成被分解的较为简单的任务，这种控制结构可以方便地采用多机控制，避免因计算速度太慢而造成的困难，控制算法和控制系统的设计也较为简单。
According to the interaction between the finger and the object, the control task is decomposed. Each finger as a subsystem is controlled by the low-level controller. Each subsystem is coordinated by the coordination layer, and each control layer only completes the simpler tasks that are decomposed This control structure can be easily used multi-machine control to avoid the difficulty caused by the calculation speed is too slow, the control algorithm and control system design is relatively simple.