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本文在多指手协调控制的基础上，提出了协调混合阻抗控制方法．在不同方向引入位置或力控制的物体目标阻抗，根据多指手协调控制的动力学方程设计计算力矩控制器，并对BH-1手抓持物体在自由空间和受限空间运动进行了仿真研究．结果表明，采用协调混合阻抗控制可使物体在被抓持过程中按期望的位置和力轨迹运动，且具有较好的动态性能
Based on multi-fingered coordinated control, this paper proposes a coordinated hybrid impedance control method. The target impedance of the object controlled by the position or force is introduced in different directions and the torque controller is designed according to the dynamic equation of multi-fingered coordinated control. The BH-1 hand-gripped object is simulated in free space and restricted space . The results show that the coordinated mixed impedance control can make the object move in the desired position and force trajectory while being gripped, and has better dynamic performance