This paper proposes a multi-fingered robot hand for the application of Chinese massage, which has a long history and is an important part of Chinese medicine. It is very helpful for human body conditioning and therapy. This research is about a new and feasible application of multi-fingered robot hand. The robot hand which has six degree of freedom (6-DOF) realizing 3translation-3 rotation (3T-3R) can automatically do the full massages process including pushing, picking-up and kneading actions to get the best therapy effect. In order to imitate a real human’s hand, we have designed four fingers for the robot hand. A single motor and connecting rod driving are chosen for fingers and closed-loop control is adopted for the robot hand by collecting and processing the signal of encoder and force sensor.