Position/torque control of multi-fingered dexterous hand

A new position/torque control strategy for multi-fingered hand is proposed. Both trajectory tracking in free space and torque tracking in constrained space are realized by using sliding mode positioning control and PD torque control, respectively, while the switch of control mode is realized by using a simple system observer. The method has good performance of position tracking and torque tracking, and can assure the transition stability. Experimental results verify the effectiveness and feasibility of this control strategy.