In this paper, we discribe an light-weight and high precision anthropomorphic robot hand with 20 joints and 16 D.O.Fs. Each finger adopts a 3D cam mechanism which can extremely reduce backlash and be miniaturized. A light-weight but high strength material is used for a hand frame to reduce total weight of the hand. The structure of the hand is designed by referencing a human hand, and it was confirmed that 16 types of grasp proposed by Cutkosky can be achieved by the proposed hand.
