The contributions and co-ordination of external finger grip forces were examined during a lifting task with a precision grip using multiple fingers. The subjects (n = 10) lifted a force transducer-equipped grip apparatus. Grip force from each of the five fingers was continuously measured under different object weight (200 g, 400 g and 800 g) and surface structure (plastic and sandpaper) conditions. The effect of five-, four-, and three-finger grip modes was also examined. It was found that variation of object weight or surface friction resulted in change of the total grip force magnitude; the largest change in finger force, was that for the index finger, followed by the middle, ring, and little fingers. Percentage contribution of static grip force to the total grip force for the index, middle, ring, and little fingers was 42.0%, 27.4%, 17.6% and 12.9%, respectively. These values were fairly constant for all object weight conditions, as well as for all surface friction conditions, suggesting that all individual finger force adjustments for light loads less than 800 g are controlled comprehensively simply by using a single common scaling value. A higher surface friction provided faster lifting initiation and required lesser grip force exertion, indicating advantageous effect of a non-slippery surface over a slippery surface. The results indicate that nearly 40% force reduction can be obtained when a non-slippery surface is used. Variation in grip mode changed the total grip force, i.e., the fewer the number of fingers, the greater the total grip force. The percent value of static grip force for the index, middle, and ring fingers in the four-finger grip mode was 42.7%, 32.5%, and 24.7%, respectively, and that for the index and middle fingers in the three-finger grip mode was 43.0% and 56.9%, respectively. Therefore, the grip mode was found to influence the force contributions of the middle and ring fingers, but not of the index finger.