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为了使假手有握物感觉和具备握力自适应性，分析了人手握物过程以及感觉信息传递，提出在握取器握力控制中采用到人体的大闭环和到假手的小闭环联合控制方案，研制了用于检测指物之间触压觉和滑觉的微型传感器。在假手握物控制中，用触觉传感器进行握物状态识别，用压觉传感器跟踪检测握物时握力的大小，用滑觉传感器实现假手握力自适应控制。实验表明，假手握物过程拟人性好，响应快，握物稳定，可靠。本控制装置结构简单，体积小，可用于各种电动假肢及机器人握取器的握力自适应控制。
In order to make sham hands feel and possess the grip adaptability, this paper analyzes the process of human hand holding and the sensory information transmission, proposes a joint control scheme of large closed loop and small closed loop to the human hand in the grip grip control, Micro-sensor for detecting pressure sensation and slip between fingers. In the control of the fake hand, the tactile sensor is used to identify the state of the handgrip, and the pressure sensor is used to track the size of the handgrip when detecting the handgrip. The gliding sensor is used to control the hand grip adaptively. Experiments show that the fake hand grip process is good human nature, fast response, the object is stable and reliable. The control device has the advantages of simple structure and small volume, and can be used for the grip adaptive control of various electric prostheses and robotic grips.