The goal of this research is to develop robot fingers with multi-DOF that can be manipulated freely in 3D Space. The movement of human fingers can not be emulated perfectly in 2D Space. The 3D representation is inevitably needed in order to emulate human finger movements. Therefore, a 1-DOF finger and a 2-DOF finger have been designed and developed by using 2D-CAD and 3D-CAD respectively. In the design of fingers, one of the simplest structures was selected and the optimal arrangement of the finger mechanism and the actuators was considered. The applicative examples of the developed fingers are shown. They are used for automatic performance robot of the flute.