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In this paper, we present a multi-fingered robot hand model with 20 Degrees of Freedom (DoF). We have developed a humaniform robot hand which containts 14 servomotors, equipped with several sensors and a wireless communication set. Based on the proposed design of the multi-fingered robot hand, efficient global model equations have been generated by the Lagrange formulation. Furthermore the dynamic model emphasize the coupling dynamic characteristics. The system is split to seven sub-blocs which can be separately simulated. The passivity approach is proposed and properties are illustrated by simulation results. Several simulation results show that the derived dynamic model can predict the motion of the multi-fingered hand in free motion or in constrained behavior.