This paper presents idea flow, development and construction of an anthropomorphic hand which is intended to be used mainly in prosthetics. Fundamental results of simulations and optimization of grasp are shown. The prototype has been manufactured and the principal functionality of finger mechanism (drive three axes by one string) has been tested. A new mechanical principle has been developed which is based again on an idea of using less actuators then joints with keeping adaptability and functionality of the mechanism. and Obsahuje seznam literatury