Based on the virtual power principle,the grasping static model is derived for the SJT2 hand,which is a prototype of EMG controlled underactuated prosthetic hand.

• 应用虚功原理建立了SJT2欠驱动仿人假肢手的抓取静力学模型,实现了抓取操作过程中静力分配的仿真计算。