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分析了多指手操作基于运动学速度控制方法和主从规划方法的缺点，指出这些方法都不是真正的协调运动规划方法。通过引入最优抓取所确定的抓取姿态集合约束和衡量抓取质量指标的函数，为多指操作提出了一协调运动生成算法。当初始的抓取姿态是最优抓取时，算法协调各手指运动保持抓取最优，当初始的抓取姿态不是最优抓取时，通过定义抓取质量指标，算法生成手指运动优化抓取姿态。应用ＨＫＵＳＴ多指灵巧手验证了生成算法。
The shortcomings of multi-fingertip operation based on kinematic speed control method and master-slave planning method are analyzed. It is pointed out that none of these methods is a true method of coordinated motion planning. A coordinated motion generation algorithm for multi-finger manipulations is proposed by introducing a set of constraints for grab posture determination and a function for measuring grab quality indicators. When the initial crawl gesture is the optimal crawl, the algorithm coordinates each finger movement to keep the crawl optimally. When the initial crawl gesture is not the optimal crawl, the crawl optimization algorithm Take a gesture. The application of HKUST multi-finger dexterous hand verified the generation algorithm.