In this paper we present a cognitive architecture inspired on the biological functioning of the motor system in humans. To test the model, we built a robotic hand with a Lego Mindstorms™ kit. Then, through communication between the architecture and the robotic hand, the latter was able to perform the movement of the fingers, which therefore allowed it to perform grasping of some objects. In order to obtain these results, the architecture performed a conversion of the activation of motor neuron pools into specific degrees of servo motor movement. In this case, servo motors acted as muscles, and degrees of movement as exerted muscle force. Finally, this architecture will be integrated with high-order cognitive functions towards getting automatic motor commands generation, through planning and decision making mechanisms.