Abstract: There was more research on single DOF of single finger than on the basejoint that has two DOFs. This paper gives a brief description of HIT-1 hand,a multi-fingered dexterous hand,and simply analyzes the base joint's kinematics and dynamics model. Then the position and torque feedback control system is constructed based on the model analysis. The traditional PID algorithm has been employed to complete both position control in free space and torque control in constrained environment,and some experimental results has been analyzed.