This paper addresses the planar finger kinematics for seeking optimized manipulation strategies. The first step is to model based on geometric features of linear and rotation motion so that the robot can select the fingers configurations. This kinematic model considers the motion between hands and object. Based on 2-finger manipulation cases, this model can output the strategies for bimanual manipulation. For executing strategies, the second step is to seek the appropriate values of finger joints according to the ending orientation of fingers. The simulation shows that the computed solutions can complete the relative rotation and linear motion of unknown objects.

翻译：本文研究平面手指运动学以寻求优化操作策略。第一步基于直线运动和旋转运动的几何特征进行建模，使机器人能够选择手指构型。该运动学模型考虑了手与物体之间的运动关系。基于双指操作案例，该模型可输出双手操作策略。为执行策略，第二步需根据手指末端方向确定合适的手指关节角度值。仿真结果表明，计算所得的解能够完成未知物体的相对旋转与线性运动。