Abstract: In order to accurately control the grasping between target objects and dexterous hand，to achieve an accurate grasping，a full-drive five-fingered dexterous hand prototype DH-MN-I is designed． The forward and inverse kinematics of a single finger are analyzed． CFFCA ( Contact Force Feedback Control Algorithm) is proposed，which can control the contact force between the dexterous hand test prototype DH-MN-I and the target object by using the feedback value of pressure sensor． Two different grasp types of dexterous hand are described，including power grasping and precision grasping． Experiments of the full driven five-fingered dexterous hand test prototype DH-MN-I are carried out，which are proved that the algorithm is feasible to grasp the object of two sizes under two grasping modes． The experimental results show that the CFFCA can control the contact force between dexterous hand and target object and control the full driven dexterous hand to grasp objects with different sizes steadily． It has high real-time performance and dexterity，and practical value．

Key words: dexterous hand, power grasp, precision grasp, contact force feedback control algorithm( CFFCA)