中文摘要：

To whom correspondence should be addressed. E-mail： fswhit @ yahoo, com. cn. Fan Shaowei, born in 1977. He received the B.E. degree in 2001 and the M.S. degree in 2005 in Mechani- cal Engineering from Harbin Institute of Technology, Harbin, China, where he is currently working toward the Ph. D. degree in Mechanical engineering. His research interests include space intelligent robot, multi-fingered robotic hand.