Abstract: A reference-time-controllable control method for multi-fingered dexterous hand coordination is introduced. It can handle unexpected or uncertain event, as the reference time is controlled through estimating error of the system and desired output can be adjusted based on the running state of the system. Kinematics and dynamics controllers are designed employing this new approach. The object can be controlled to move along desired path and keep grasping configuration of fingers to the greatest extent at the cost of time when the object is obstructed or disturbed. Thus the grasping stability can be maintained and the damage of the object or the system can be avoided. Simulation and experiment illustrate the effectiveness of the method.

Key words: Control method, Multi-fingered coordination, Multi-fingered dexterous hand, Reference-time-controllable