The multi-sensor robot hand was jointly developed by DLR (German Aerospace Centre) and HIT (Harbin Institute of Technology) research scientists for service robot purposes. The DLR-HIT-Hand employs four fingers each consisting of four joints and three actuators. The thumb incorporates an additional degree of freedom to serve complex applications. The design conspicuously reveals the finger sinews on the back of the hand. It exhibits a lifeline in the palm of the hand and the fingertips imply contours of fingernails. All in all a nearly human, natural appearance results ensuring high acceptance in the humanoid context.