By studying the shape, structure, driving-model and the rules of movement of human hand from anthropotomy, a dexterous hand close to a human hand in structure and functions with 5 fingers and 19 DOFs is designed.

• 通过分析正常人体解剖学，针对人类手掌的外形结构、驱动形式及运动规则，设计了一种5指仿人灵巧手。