中文摘要：

介绍了7自由度假肢结构，并针对传统的将7自由度手臂退化为6自由度手臂的逆运动学求解方式进行改进，提出了利用摇摆角（swivela，1gle）的优化方式，使手臂在抓取时更加拟人自然。

英文摘要：

The structure of the prosthetic arm is presented and for traditional method which gains kinematics inverse solution by degenerating 7-DOF to 6-DOF,a new additional constraint which named swivel angle is proposed. By optimizing swivel angle the arm will perform more natural when it grasps.