**5. Conclusions**

In this paper, it is declared that the multi-fingered universal robot hand is developed. This robot hand is named "Universal Robot Hand." This robot hand has 5 fingers, 20 joints and 16 DOFs. This robot hand is a little bigger than a human hand. Every DOF is driven by the DC motor in the finger. Every joint has Torque Limiter Mechanism. This mechanism is the clutch brake system. The drive mechanism in the joint can be protected against overload by using the skidding mechanism. At the skidding time, the joint angle recognized by the encoder is different from the real joint angle. However the difference can be corrected by the software method.
