In accordance with the physiological structures of the human hand

an agile hand control model is designed with most biological mechanical characteristics of the human hand kept by referring to the shape of human hand bones. To fulfill the agile hand’s synchronicity of multiple finger control and real time of data transmission

both data transmission and servo control modules are designed. Aiming at the characteristic of the low motion precision of underactuation

bionic structures such as simulated tendon is proposed to ensure each finger can accurately reach the expected position

and to reduce the negative impact of tendon drive hysteresis. Static configuration analysis is applied to provide basis for selecting simulated tendon materials and obtain the scope of work space of finger tips through kinematic analysis. At last

through multiple finger grasp testing and teleoperation experiments

verify the stability and reliability of the proposed control system.