The anthropomorphic limb, such as, full size prosthetic upper limbs and exoskeleton rehabilitation robot, etc. moving human like motion during the reaching movements is important for safe and ergonomic consideration. This study is toward planning the humanoid motion of the hand of anthropomorphic limbs in the goal reaching movement with high curved trajectory. The proposed method treats the configuration of hand as element in the SE(3), and uses local coordinate chart mapping on cotangent space between group structure and manifold structure. The wrench on se*(3) which drives the hand to target configuration is derived from the force one form based on the defined conservative potential field. In order to guarantee the curvature of trajectory and bell-shaped velocity profile, the repulsive potential field is used to derive the repulsive wrench. The result trajectory and corresponding velocity profile are basically consistent with the human hand motion in the goal reaching movement. © 2011 Springer-Verlag.