Biologically inspired robotic hands have important applications in industry and biomedical robotics. The
grasping capacity of robotic hands is crucial for a robotic system. This paper presents an experimental
study on the finger force and movements of a human hand during the grasping operation in real-time.
It focuses on two topics; measuring grasping force using Flexi-force sensors and analysing human hand
action during grasping operation. The findings show that lifting required higher forces compared with
grasp force in the static phase.