Abstract. This paper describes the features of the DIST-Hand dexterous gripper. The DIST-Hand is a mechanism constituted by fingers with 16 degrees of freedom and with a high degree of dexterity, designed for experiments in the area of grasping control, and Tele-manipulation. The current version of the gripper lightweight and can be easily installed on a various existing robots. Moreover we present solutions concerning the control of a device oriented to the fine manipulation and the development of a novel prototype of an integrated force and tactile sensor based on conductive rubber. 1