This humanoid robot hand was jointly developed by engineers of DLR and HIT (Harbin Institute of Technology). It consists of five modular fingers incorporating four joints each with three degrees of freedom. Despite its higher complexity this dextrous hand is smaller and of less weight than its forerunners. Altogether 15 motors are integrated into the finger bodies and the palm. Each joint is equipped with an absolute angle sensor and a strain-gauge based joint torque sensor. The communication to its supervising controller is performed via a high speed real time bus.