Abstract: In this paper, we address the problem of kinematical manipulation of multifingered hand. Given an object, we want to manipulate it using a multifingered hand to move along a desired trajectory. To this end, we present three kinematical algorithms: generalized inverse algorithm, contact trajectory control algorithm and grasp optimization algorithm. Each algorithm has its own feature and advantage, and we can apply one of them in a manipulation task, even can combine them in a complex task in different stages. The experiments of manipulating a ball u sin g two fingers with disk fingertip, performed on the experimental system HKUST HAND, implement and verify the efficacy of the proposed algorithms.