Abstract: A detailed introduction of the new three-fingered dexterous hand including the research background, achievements, and all the composing parts of the hand. The mechanism is introduced in detail first, and the principle of the design and arrangement of the hand is analyzed using the optimal grasping theory. The driving method and the innovation and unique parts of the driving system are analyzed and explained. Form their composition to working principle, the controller hardware is illustrated including the motion controller, data acquisition cards and the power amplifier, and a figure of them is given. Finally, we provide the detailed information of the control software and algorithms.

Key words: Controller, Dexterous hands, Mechanism