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本文探讨了多指手的运动学操作问题，即给出被抓物体所要运动的轨迹，如何用多指手进行操作以实现物体的运动，也即怎样根据物体的运动来确定各手指的运动．我们提出和考察了三种运动学操作算法：广义逆算法、接触轨迹控制算法和抓持优化算法．每种算法各有其特点，可根据具体的操作任务加以采用，甚至可综合用于复杂操作任务的不同阶段．在实验系统ＨＫＵＳＴＨＡＮＤ上以两指手操作蓝球的实验实现了这些算法，考察了其可行性和有效性．
This article explores the kinematic operation of multi-fingered hand, that is, given the trajectory of the object to be scratched, how to use multi-fingered hand to achieve the object’s movement, that is, how to determine the movement of each finger according to the object’s movement. We propose and investigate three kinematic algorithms: generalized inverse algorithm, contact trajectory control algorithm and grasping optimization algorithm. Each algorithm has its own characteristics, can be used according to the specific operational tasks, and even can be integrated for different phases of complex operational tasks. Experiments with two fingers in the experimental system HKUSTHAND have realized these algorithms and investigated their feasibility and effectiveness.