  This paper presents a bionic reflex control strategy for a kinematically
constrained robotic finger. Here, the bionic reflex is achieved through a force
tracking impedance control strategy. The dynamic model of the finger is reduced
subject to kinematic constraints. Thereafter, an impedance control strategy
that allows exact tracking of forces is discussed. Simulation results for a
single finger holding a rectangular object against a flat surface are
presented. Bionic reflex response time is of the order of milliseconds.
