A multi-sensor and antagonistic driven dexterous hand control system, which comprises an antagonistic driven dexterous hand by tendon transmission, a joint angle sensor (19) , tactile sensors (1) in bionic skin, joint force and torque sensors (3), tendon tension sensors (5), a sensor management module (13), a drive control module (15), and a central control module (14); the system can effectively decouple different levels of force and tactile perception modes, so as to perform flexible comprehensive analysis on various perception information under different operation tasks, simplifies the control difficulty, reduces the design complexity and cost of various types of sensors and tactile bionic skin; and the central control module (14) of the system can prevent the dexterous hand from excessive loosening or tensioning of the tendon, control the joint damping and joint rigidity of each joint, take a compliance operation and anti-interference robustness into consideration, and can also enable the system to work reliably even when the joint force and torque sensor (3) or the tendon tension sensor (5) is partially or completely missing or working abnormally.
MULTI-SENSOR AND ANTAGONISTIC DRIVEN DEXTEROUS HAND CONTROL SYSTEM