This study emphasizes on the modelling and assessment of a two-phalange robotic manipulator designed for dexterous grasping applications, closely mimicking the kinematics and dynamics of a human arm. The manipulator’s design enables precise interaction with objects of varying shapes, sizes, and textures, making it suitable for tasks requiring adaptability and fine motor skills. A detailed mathematical framework is developed to derive both forward and inverse kinematics, facilitating precise control of the phalange trajectories. Simulations validate the manipulator's capability to achieve stable and adaptive grasping, demonstrating its reliability under dynamic conditions. Key performance metrics, including dexterity, precision, and energy efficiency, are employed to benchmark the manipulator’s design. The findings underscore the manipulator's potential applications in diverse fields such as prosthetics, industrial automation, and service robotics. By advancing the design and control of robotic grasping mechanisms, this research lays a strong foundation for enhanced human–robot interaction, promoting efficiency, adaptability, and user-centric functionality in robotic systems.