This paper proposes a novel finger kinematic model for human hand configurations, which is applicable to the realization of a naturalistic human finger motion for robotic finger systems and/or artificial hands. The proposed finger model is derived based on the geometry of a hand shape grasping a virtual cylindrical object. The model is capable of describing the rotation configuration of the joints of a long finger with three degrees of freedom by a single parameter, i.e. the radius of a cylindrical object. Experimental validation of the model shows that it is able to simulate closely naturalistic human finger movements. With the use of the proposed model, discussions were made on how to achieve multi-finger coordination that makes task-specific hand movements and/or a posture for specific hand actions. Due to the simplicity of the model to define joints angle configuration in a long finger by a single parameter, the combination of the proposed model and the multi-finger coordination concept discussed can be seen as an inclusive framework in human-like hand systems design and control.