With the continuous development of bionic machinery, dexterous hand development is also rising. And dexterous hands to complete a similar operation of the staff must be carried out planning. Firstly, the grasping of dexterous hand is classified. Then, four grasping analysis indexes of force closure, dexterity, static balance and stability are put forward according to classification. In the light of these indexes, the existing grasping planning method is analyzed on the basis of these indexes. Finally, the existing problems of the grasp planning method and the countermeasures are put forward.

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