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Dexterity is an important issue for design, trajectory planning, and control, of manipulators. In this study, we introduce anew kinematic/static dexterity measure for manipulator manipulation. The measure is to evaluate how efficient a manipulator system is, while the limit driven characteristics of its actuators (DC motors) is included into consideration. The possible maximum velocity and force of the required task are derived in subjection to the heat-converted power limit of the DC motor, and two examples are used to show that the proposed dexterity measure is of task-dependent and changed due to the tasks.