Abstract: Analysis of kinematics and dynamics of a dexterous hand are implemented and simulated on Matlab. Kinematic model of the dexterous hand is established and solved. The inverse dynamics of the dexterous hand is analyzed based on the Newton-Euler method and its results are achieved. Based on the dynamics of the dexterous hand and the static model of PMAs, the system implements its master-slave control. It showed grasping of objects by the dexterous hand.