Abstract: An new type integrated humanoid finger is developed. The finger has two main features：one is that the finger is actuated by using miniature linear actuator and tendon for the integration of the mechanism with the actuation system， another is that 2 DOF base joint is designed based on differential mechanism and distal two joints are mechanically coupled. The kinematics and dynamics of the finger are systematically studied，which is basis of the optimal design and control for the dextrous robot hand.

Key words: Dynamics, Humanoid dextrous hand, Miniature linear actuator