Abstract: The dynamics properties of a kind of multi-fingered robot hand is analyzed.It is pointed out that the dynamics property of this kind of multi-fingered robot hand in the approaching process is quite different from that in the grasping process and, different control algorithm should be taken in the two process. A position-force hybrid control algo-rithm is proposed which is applied to the control system of the University of Science and Technology Beijing double-thumb robot hand successfully.