Motion control of the human hand is the most complex part of the human body.It has always been a challenge for a good balance between the cost,weight,responding speed,grasping force,finger extension,and dexterity of prosthetic hand.To solve these issues,a 3D-printed cable driven humanoid hand based on bidirectional elastomeric passive transmission (BEPT) is designed in this paper.A semi-static model of BEPT is investigated based on energy conservation law to analyze the mechanical properties of BEPT and a dynamical simulation of finger grasping is conducted.For a good imitation of human hand and an excellent grasping performance,specific BEPT is selected according to human finger grasping experiments.The advantage of BEPT based humanoid hand is that a good bal-ance between the price and performance of the humanoid hand is achieved.Experiments proved that the designed prosthetic hand\'s single fingertip force can reach 33 N and the fastest fingertip grasping speed realized 0.6 s/180°.It also has a good force compliance effect with only 430g\'s weight.It can not only grab fragile objects like raw eggs and paper cup,but also achieve strong grasping force to damage metal cans.This humanoid hand has considerable application prospects in artificial prosthesis,human-computer interaction,and robot operation.