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This paper presents a newly developed anthropomorphic robot hand called KH Hand type S, which has high potential of dexterous manipulation and displaying hand shape, and its master slave system using the bilateral controller for five-fingers robot hand. The robot hand is improved by reducing the weight, the backlash of transmission, and the friction between gears by using elastic body. Expression of Japanese finger alphabet is shown. In order to demonstrate the dexterous grasping and manipulating an object, the experiment of peg-in-hole task controlled by bilateral controller is shown. These results denote that the KH Hand type S has a high potential to perform dexterous object manipulation like the human hand.