In this paper, the tracking control of tendon-driven finger forces based on the Fully Actuated System Method (FAS) is investigated. Aiming at the coupled drive, Coulomb friction, spring and nonlinear damping characteristics of the finger tendon drive system, a tendon drive system dynamics model is established, and the strict-feedback nonlinear system is transformed into a Fully Actuated System (FAS) model, and the state-feedback nonlinear control law of the FAS system is designed, so as to realize the force stabilization and tracking control of the tendon-driven finger in the presence of unknown disturbances, and at the same time avoiding the “differential explosion” problem that may be caused by the inverse stepping. At the same time, the “differential explosion” problem that may be caused by the backstepping method is avoided. The good effect of the method is proved by simulation experiments.