多指灵巧手与环境的接触力控制是其抓持物体并进行作业的基础，也是一个非常复杂的问题，本文用基于模糊控制的方法对多指灵巧手的接触力进行控制，并对非线性进行了补偿，实验结果表明所用方法是有效的 It is also a very complex issue that the control of the contact force of the dexterous hand and the environment is more than the control of the contact force of the dexterous hand and the environment. This paper uses the method of fuzzy control to control the contact force of dexterous hands, The compensation was made and the experimental results showed that the method used was effective