This paper shows the control of a robotic anthropomorphic hand. The prototype is a modification of a design previously made by the ARMOS research group. This hand has as objective to perform a cylindrical grasp in a way that is trustworthy for a plastic bottle, using an arrangement of RFS sensors (Resistive Force Sensors) placed in the tips of the fingers, and servomotors that will perform the closing movement. The control scheme uses fuzzy logic as the smart decision strategy. The results on the prototype demonstrate the high performance of both the robot and its control scheme.