Abstract: The structure,motion mode and static analysis of a novel multi-DOF prosthetic hand are presented.The main parts of this prosthetic hand are made from photosensitive resin,and mini DC(direct current) servo motors are used as actuators.Underactuated and tendon driven mechanisms are used in fingers.The new prosthetic hand features humanoid appearance,low weight and adaptive grasp.The movement features of the prosthetic hand and the law of contact force are studied,and the law is testified by simulation.At the end,the motion law and grasp capability of the prosthetic hand are verified by experiment.