A super under-actuated humanoid robot multi-fingered hand, TH-2 Hand, was designed based on the previous under-actuated finger mechanism.

以该欠驱动手指机构为基础，设计了一种高欠驱动的拟人机器人多指手——TH-2手。

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When grasping an object with a multi-fingered robot hand, contact points on the object should be arranged deliberately to achieve maximum resistance to external disturbances.

多指机械手抓取物体时，需要选取手指和物体的接触位置，最大限度地抑制外来扰动，实现稳定抓取。

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