摘要：Based on flexible pneumatic actuator(FPA),bending joint and side-sway joint,a new kind of pneumatic dexterous robot finger was *** finger is equipped with one five-component force sensor and four contactless magnetic rotary *** parts and FPAs are integrated,which reduces the overall size of the *** by FPA directly,the joint output torque is more accurate and the friction and vibration can be effectively *** improved adaptive genetic algorithm(IAGA) was adopted to solve the inverse kinematics problem of the redundant *** statics of the finger was analyzed and the relation between fingertip force and joint torque was ***,the finger force/position control principle was *** experiments of fingertip force/position were carried *** experimental results show that the fingertip position tracking error is within ±1 mm and the fingertip force tracking error is within ±0.4 *** is also concluded from the theoretical and experimental results that the finger can be controlled and it has a good application prospect.