The trajectory planning and control system for a mechanical, 3-fingered, dextrous hand are analyzed and implemented. The forward and inverse kinematics of the fingers are derived and used to analyze the capabilities of the hand. The simple and effective grasping strategy employs minimal trajectory planning and relies solely on force feedback to define finger position and orientation. A force feedback controller is implemented on the hand which allows independent control of each finger. The hand is used in conjunction with a robotic arm to execute various tasks which require hand dexterity.