The BH8-series BarrettHandTM is a multi-fingered highly flexible, self-contained and low weight grasper which can be used to grasp objects of different shapes and sizes. There are numerous applications of such a hand in industries for manufacturing and remote handling. The control challenges of this type of system include both position and force control to address switching based on force sensing. This research investigates to develop appropriate modelling and control strategies for such a hand which include sliding mode and adaptive fuzzy logic control.