This thesis presents a development of a novel humanoid robotic hand. The developed hand has four fingers, a thumb and three fingers totally with 14 movable joints, which consist of 10 active joints and four linked joints. The robotic hand is designed with linkage mechanism and linear actuators. Because of the backlash problem, there aren’t any bevel gear transmission system and wire system in the drive mechanism. The robotic hand with this design has more accurate finger positions control and force control. We also develop control boards with embedded control system. The control board receives the control command from computer by UART port, and use I2C BUS to communicate each other, and it has three control abilities – the motion profile, motor position control, and force detector. Following the mechanism designs in this thesis, we make a life-size robotic hand with high stiffness by rapid prototyping technique.