In order to avoid mechanical structure and system control circuit of dexterous hand device change complex which installation tactile sensor or force sensor

a control method of dexterous hand finger surface pressure based on current parameter is proposed. In the experiment

finger surface pressure signal and drive motor current signal are collected synchronously. Dynamic model for finger transfer system is analyzed

the modeling of relationship between finger surface pressure and drive motor current is finished. And the relationship curve is verified by load test. Meanwhile

a control system of finger surface pressure is designed based on PIC16F877A microcontroller. After completing the hardware design and software design of the system

the experimental results are analyzed. Finally

the control experiment basically meets the design requirements

and the control of dexterous hand finger surface pressure based on current parameter is realized.