给出了关节的结构，介绍了手指关节的气动原理与控制方法，并分析了关节弯曲变形的静态模型。
In this paper the structure of the joint is presented, the principle of pneumatics and method of control are.
给出了关节的结构，介绍了手指关节的气动原理与控制方法，并分析了关节弯曲变形的静态模型。
In this paper the structure of the joint is presented, the principle of pneumatics and method of control are.
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