摘要：A five-fingered,multi-sensory and biomimetic hand is *** cambered palm is specially designed by utilizing the knowledge of *** position of each finger is arranged according to human hand *** finger with three phalanges could fulfill flexion-extension movement *** the fingers are designed using coupling link *** location of the thumb is designed by maximizing interaction area between the thumb and other *** opposite thumb could grasp along a cone surface,while maintaining its *** hardware architecture is divided into control system and human-machine interaction *** mechanical parts,sensors and motion control systems are integrated in the hand *** addition,a skin-like glove is designed,which makes the hand more *** to our primary experimental results,the hand can accomplish several grasp modes by applying an intuitive surface electromyography control *** success rate of 10 modes is up to 90%.