Precision grip in macaque has been investigated to clarify the neural mechanism underlying coordinated control of the human dextrous grip. In this study, we constructed an anatomically-based, three-dimensional model of the Japanese macaque hand and attempted to estimate the muscle force of the all hand muscles during a precision grip task based on inverse dynamic calculation. The musculoskeletal system of the hand was modeled as a chain of rigid links connected by revolute joints. The paths of each muscle was defined as a series of points connected by line segments. We collected electromyographic and three-dimensional kinematic data from one adult male Japanese macaque during a precision grip task. The measured hand kinematics and fingertip forces of the thumb and index finger were then input to the hand model to estimate muscular forces required to perform the input motion. We used the sum of the cubes of muscle stress as an objective function to solve for the force sharing problem. The estimated muscular force patterns were generally in agreement with simultaneously recorded electromyographic data, demonstrating the validity and efficacy of the proposed model analysis framework in understanding the biomechanics and neural control of precision grip in macaques.