This paper describes details of a set of robotic fingers driven by stepping motors. Robotic fingers need position, velocity and force control realized by stepping motor. New control system proposed in this study contains a generating system of real-time pulse series for driving stepping motor in the control loop. So, real-time sensor feedback can be achieved in the controlling stepping motor. When the robotic fingers complete a work as an operation, velocity controlled robotic fingers must change to the another control mode such as position or force control. This study treats a method how to provide force control to a robotic finger, and shows a method how to supply a sensor feedback to a stepping motor. It is found that a force controlled robotic finger shows a good performance of parts handling.
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