文中采用水压力补偿技术，建立了基于圆筒式测力结构的水下灵巧手末端指节的结构模型。
To accomplish this, a finger-tip force sensor model of an underwater dexterous hand was built based on a cylindrical elastic body employing a water pressure compensation technique.
指端力传感器是水下灵巧手实现复杂作业的关键，开展了基于圆筒结构的指端力传感器研究。
The fingertip force sensor is the key for the complex task of the dexterous underwater hand, so a fingertip force sensor based on cylinder elastic body is developed.
采用水压力补偿技术，设计了基于圆筒式测力结构的水下灵巧手指端力传感器，分析了其工作原理。
This paper described the development of fingertip force sensor based on cylindrical elastic body employing the water pressure compensation technique, and analysed the principle.
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