First, the kinematics equation of the multi-fingered hand manipulation is presented and the velocity spaces of object and finger joints are, respectively decomposed orthogonally by introducing appropriate inner products.
给出了多指手操作的运动学方程,并通过在物体及关节速度空间分别定义内积将这两个空间进行正交分解。
参考来源 - 多指手操作系统的运动学通解及活动性分析·2,447,543篇论文数据，部分数据来源于NoteExpress
By combining the obtained equations with the contact kinematic equation, a simple and explicit kinematic equation of multi fingered hand rolling manipulation can be set up.
得到的关节——物体运动方程、相对角速度表达式和接触运动方程构成了形式简洁的滚动操作运动学方程。
The kinematics and its algorithm for multi fingered hand manipulation with rolling contacts are investigated.
研究多指手滚动操作的运动学及其算法。
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