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The prototype uses six miniature motors to drive 14 joint degrees of freedom (DOFs): four fingers have active metacarpophalangeal actuation with tendon-driven underactuated proximal and distal interphalangeal joints, while the thumb provides two independently controlled DOFs for opposition expansion and posture adjustment. It supports five-finger power grasps, tripod pinches, and lateral pinches. To mitigate tendon slack and stroke inconsistency, active\/passive tendon-length constraints are defined, and an equal-stroke configuration is obtained via chord-to-arc mapping. A layered STM32F767-based controller combines a reference rotation range limit (free motion) with encoder speed-decay detection (contact\/near-stall) to realize per-finger termination and overdrive protection without force\/tactile sensors. Experiments report a total mass of 176.6 g and a peak single-finger driving force of approximately 2.8 N. Following the Feix GRASP taxonomy (33 types), the hand reproduces 24 types (72.7%), covering power, intermediate and precision grasps, both thumb abduction\/adduction postures, and palm\u2013pad\u2013side opposition\/contact, with stable grasp formation across objects of varying geometries.<\/jats:p>","DOI":"10.3390\/biomimetics11040257","type":"journal-article","created":{"date-parts":[[2026,4,8]],"date-time":"2026-04-08T09:49:44Z","timestamp":1775641784000},"page":"257","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["A Lightweight and Versatile Prosthetic Hand for Daily Grasping"],"prefix":"10.3390","volume":"11","author":[{"given":"Shunping","family":"Zhao","sequence":"first","affiliation":[{"name":"Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China"},{"name":"University of Chinese Academy of Sciences, Beijing 101408, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0002-0168-7740","authenticated-orcid":false,"given":"Yuki","family":"Inoue","sequence":"additional","affiliation":[{"name":"Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China"},{"name":"Sino-Japan Joint Laboratory for Human-Machine Interaction and Functional Rehabilitation, Shenzhen 518055, China"},{"name":"Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications, Tokyo 182-0021, Japan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zhenyu","family":"Chen","sequence":"additional","affiliation":[{"name":"College of Mechatronics and Control Engineering, Yuehai Campus, Shenzhen University, Shenzhen 518055, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yicong","family":"Lin","sequence":"additional","affiliation":[{"name":"College of Mechatronics and Control Engineering, Yuehai Campus, Shenzhen University, Shenzhen 518055, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Junru","family":"Chen","sequence":"additional","affiliation":[{"name":"College of Mechatronics and Control Engineering, Yuehai Campus, Shenzhen University, Shenzhen 518055, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3467-5861","authenticated-orcid":false,"given":"E. 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