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Compared with traditional dexterous humanoid robotic hands, underactuated robotic hands have the advantages of self-adaptive grasp and easy real-time control. In this paper, the development of a novel underactuated robotic hand is presented. This hand has five fingers and through using underactuation, the self-adaptability of each finger is achieved. This underactuated humanoid robotic hand can accomplish complicated selfadaptive grasp without high demand for real-time control system. In the first place, the design of a two degree-of-freedom underactuated finger is given. Then the parameters affecting the rotary angle and grasp force of the underactuated finger are analyzed and optimized. Finally, taking one finger as a module, the entire humanoid robotic hand is designed. This robotic hand is similar to human hand on appearance and size. It has many good merits such as good self-adaptability, compactness, easy real-time control, small volume and light weight.