The present paper describes the development of a prosthetic hand based on the human hand anatomy. The hand phalanges are printed by using 3D printed with Polylactic Acid material. One of the main contributions is the investigation on the prosthetic hand joins; the proposed design enables to create personalized joins that allow the prosthetic hand a high level of movement by increasing the degrees of freedom of the fingers. Moreover, the driven wire tendons show a progressive grasping movement, being the friction of the tendons with the phalanges very low. Another important point is the use of force sensitive resistors for simulating the hand touch pressure. These are used for the grasping stop simulating touch pressure of the fingers. Surface Electromyogram (EMG) sensors allow the user to control the prosthetic hand grasping start. Their use may provide the prosthetic hand the possibility of classification of the hand movements. The practical results included in the paper prove the importance of the soft joins for the object manipulation and to get adapted to the object surface. Finally, the force sensitive sensors allow the prosthesis to actuate with more naturalness by adding conditions and classifications to the Electromyogram sensor.