<p>The use of humanoid robots is gradually expanding in practice, and dextrous humanoid robot hands are also required for effective grasping and manipulation of various objects. One of the interesting topics for such human-like grasping and manipulation tasks is to properly consider the movement behavior of human fingers. Based on these concepts, this paper experimentally investigates typical hand grasping and releasing movements using a data acquisition system and analyzes the inherent interphalangeal joint coordination characteristics of human fingers for effective design of humanoid robot fingers. As a result, it is shown that the interphalangeal joint coordination characteristics can contribute to the effective operation of humanoid robot fingers, and thus it can be applied for effective design and control of biomimetic humanoid robot fingers as well as prosthetic fingers.</p>