A novel exoskeleton multi-fingers robot to measure the Extravehicular activity spacesuit glove (EVA glove) joint’s mechanical characteristics is presented. The exoskeleton finger based on planar four-bar parallelogram mechanism has enough stiffness and can exert forces in two directions

finger joint can rotate about a fixed center that avoid disturbance between finger and glove. The length of phalange of manipulator can be regulated for adapting to gloves. According to finger special mechanical structure

a kinematic model is given. Based on the dynamical model of exoskeleton robot finger the μ-synthesis robust controller is presented. System uncertainties are analyzed. The load dynamics are represented by a feedback uncertainty model. The proper control model is built. The trajectory tracking experimental results show that μ-controller can suppress the influence of disturbances and control system has robust stability and robust performance. The measurement results demonstrate that the robot system works well and reliable

the measuring principles and method are correct.