Abstract: This paper describes the grasping of human hand and dexterous hand in virtual environment. We capure the motion information of human hand using Dataglove,map human hand motion to dexterous hand. The master/slave grasping is realized in virtual environment by forming the 3D model of human hand and dexterous hand,and several key technologies in establishing a virtual grasp system,such as motion mapping,collision detection,virtual force mode,criterion of robust grasp,are discussed.