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在全面分析手指关节运动与其操作物体间的运动学关系的基础上，给出了普遍适用的多指手的协调运动方程和运动约束条件。
Based on a comprehensive analysis of the kinematic relationship between the motion of the finger joint and its operating object, the universally applicable coordinated motion equation and the motion constraint condition of the multifingered hand are given.