Previous studies have shown that mimicking a human hand can be very challenging due to the fact that the structure of the human hand was delicate and complex. For a robotic hand, a simple task such as holding a pen requires a greater understanding of various topics such as hand mechanics and design, forward and inverse kinematics, tactile and force sensors, actuators and control. In this paper a new design of a multifingered robot hand known as a Red hand is proposed. The model of the Red is developed by using SolidWorks and Simechanics. The Red Hand consists of 5 fingers, 16 degrees of freedom and actuated by the Brushless DC motor. A PID controller is employed to show the effectiveness of the Red Hand grasping control. The simulation result showed that the PID controller was satisfactorily controlled each joint of the Red Hand. In addition, the Red Hand is able to grasp less than 2 seconds without overshoot and producing very small steady state error.