Optimizational analysis of dextrous robot hands is carried out by seven factors: pair of finger

number of finger and palm

structure of finger

the way of finger’s drive and transmission

structure of finger’s cross section

as well as selection and diaposition of sensors.Considering generality and universality

some theoretic optimational calculation towards relative position and posture between fingers

length of every finger-joint

range of revolving finger-joint were quoted.By the way of bionics analogism and optimizational function

an object function and bound for objective function were created.And a kind of dextrous hand with palm

three fingers and nine finger-joint is designed.The 3D structural model of dextrous robot hand is also given.Robot hand which has been optimized expands the application.Nursering robot which is equipped with optimized dextrous robot hand can alleviate nurses’ labor

and it can improve nursing quality.