In this paper, we demonstrate a preliminary motion before grasping by a robot hand, for adjusting the object-fingertip distance and 2-axis postures simultaneously, using a Resistor Network Structure Proximity sensor (RNSP sensor). Through this motion (called “pre-shaping”) and the grasping of an object, the surface of each fingertip is brought into contact with the object surface so that in the next stage grasping can be undertaken. In the next stage, a force can be applied from the fingertips onto the object surface directly. The pre-shaping enhances the reliability of the feedback control for the after-contact tactile sensors. To realize the pre-shaping, we use fingertips equipped with RNSP sensors, which can detect the distance between the fingertip and the object, to determine the relative position between fingertips and an object. The RNSP sensor has a fast response (<1 [ms]) and simple connectivity (only 6 wires), and can be mounted easily. Additionally, a characteristics of the RNSP sensor output can be designed by the arrangement of the sensor elements. To perform the pre-shaping by simple sensor feedback control based on the configuration between the fingertip and object, we designed the RNSP sensor so that it had the appropriate characteristics for the pre-shaping.