假手的运动拟人性主要体现在抓取过程中手指各个关节间的协同性上。根据神经学原理，人手完成一个抓握动作需要几十个肌肉协同作用。人手是假手设计的范本，将这个原理推广到假手中，通过2个电机的协同输入，实现四指12个关节的协同输出。协同的具体参数通过人手抓握数据采集的降维处理计算得出。在拟人假手的设计中，首次提出通过集成在手掌内部的微型行星齿轮来合成2路输入，实现协同控制。经过ADAMS仿真，本假手能够完成多种日常抓握姿势。%The anthropomorphic movement of a prosthetic hand is mainly reflected on the synergy a‐mong various joints of the fingers during the grabbing process .According to the principle in neurology ,a gripping action requires manpower to complete dozens of muscle synergies .Manpower is the template for prosthetic hand design .This principle will be extended to the prosthetic hand .Collaborative output of twelve joints of the four fingers is achieved by collaborative input of two motors .Specific parameters of the synergy are calculated by collection of hand gripping data and dimension reduction .The anthropomorphic prosthetic hand design first proposes that the integrated inside the palm of the minor planet gear can be used to synthesize two inputs to achieve cooperative control .According to the simulation of ADAMS ,the prosthetic hand can complete a variety of daily grip positions .
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