中文摘要：

为了实现对灵巧手的主从控制，设计了一个鼠标形桌面主操作手。主操作手将操作者手指的运动位置实时传递给从手，在从手抓取物体的过程中，利用直流电机作为主操作手的主动力反馈控制源，通过直流电机的驱动电路控制电机的转矩，将从手感受的力反馈给操作者。整个系统由DSP控制器进行控制。

英文摘要：

A mouse- shaped grounded haptic device is designed to realize the control for the dexterous hand. The haptic device transfers finger＇s position to the dexterous hand real time, and then during the dexterous catches objects, the device feedbacks the force, by using a DC motor, which is used as actuator in the feedback mechanism for the proposed device, to human. The whole system is controlled by DSP microcontroller.