This paper aims to measure the grasp force of human hand static-grasping objects and to evaluate the authenticity of the virtual fingers grasping haptic algorithm. A human hand grasp force measurement platform is built

and experimental contents are designed

which include three static-grasping postures to grasp a sphere object. Five testers are used in this experiment. The measured data are analyzed and compared with the calculated values of the virtual fingers grasping haptic algorithm

with the virtual hand grasp objects under the same static-grasping postures as the testers. The difference between the measured value and theoretical value of a single finger force or fingers result force lying in 1% 6%. Comparison results show that the measured data are close to the calculated values and coincide with human daily grasping experiences. This paper obtains a physical evaluation method to validate the authenticity of the virtual fingers grasping haptic algorithm. This algorithm can generate realistic grasping force and can be applied in natural virtual hand interaction with force feedback.