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Abstract-In this paper we introduce a newly developed high-speed multi-fingered robotic hand. The hand has 8-joints and 3-fingers. A newly developed small harmonic drive gear and a high-power mini actuator are fitted in each finger link, and a strain gauge sensor is in each joint. The weight of the hand module is only 0.8kg, but high-speed motion and high-power grasping are possible. The hand can close its joints at 180deg per 0.1s, and the fingertips have an output force of about 28N. The hand system is controlled by a massively parallel vision system. Experimental results are shown in which a falling object was caught by the highspeed hand.

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