Despite many technological advances in the field of robotics, there is still a need for the creation of linkage driven (non-tendon) robotic hands that reliably grasp a wide variety of objects. Our team seeks to address this problem by developing a flexible and dexterous robotic hand that uses motor-driven underactuated ulnar fingers to simplify grasping. By combining this linkage based under actuation with tactile sensors, we aim to demonstrate a practical approach to robotic grasping that can be applied across the industry.