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由冗余自由度手指构成的多指灵巧手具有较大的灵巧性，对物体进行微细操作以及抓取特殊形状物体的能力也比非冗余自由度手指构成的多指手要强． 对冗余自由度手指的结构设计问题进行了研究，引进了优化设计方法，提出了适用于多指灵巧手的手指结构优化设计的优化目标函数，编制了优化程序，进行了优化计算，得到了比较满意的结果． 最后，用该手指具体设计了一种多指灵巧手，并给出了其三维视图．该灵巧手有手掌，具有３ 个手指，１２ 个自由度，可以在多种场合使用，具有极大的灵巧性．
The multi-fingered dexterous hand formed by the finger with redundant degrees of freedom has greater dexterity and the ability to perform fine operations on objects and grab special-shaped objects is also stronger than that of multi-fingered hands which are composed of non-redundant degrees of freedom fingers. The structural design of the finger with redundant degrees of freedom is studied, and the optimal design method is introduced. The optimization objective function of finger structure optimization design for multi-finger dexterous hand is put forward. The optimization procedure is compiled and the optimization calculation is made. Satisfactory results. Finally, a multi-fingered dexterous hand is designed specifically with the finger, and its 3D view is given. The dexterous hand has a palm, with 3 fingers, 12 degrees of freedom, can be used in a variety of occasions, with great dexterity.