The motivation of this project is to design a non-linear controller for a robotic hand, which includes analyzing the motion & force characterization of the robotic hand. Hazardous environments such as in industry sector with high chemical usage give high risks to the safety of workers. These risks can be reduced by designing a robotics hand that is able to replace the human works. For industry purpose, the robotics hand needs to have a higher performance in accuracy, stability and consistency. However, the current robotics hand in industry is not flexible which mean that it cannot be used for different tasks. Therefore, a multi-purpose robotics hand is developed.