In order to realize the integration,intelligent,and lightweight of the humanoid hand,by using the micro motor with the rope combination of turbine disk drive way,the model of finger is made by 3D printer and the hand size is 1: 1,total weight is 300 g. Worm gear combined with rope drive mode is adopted to realize the humanoid hand has larger output force and high safety under the small volume. By reverse winding of elastic rope and drive rope with worm gear plate,the resistance is reduced in the process of driving,the effective output force of finger is improved. Then,the adaptive grasping of humanoid hand is studied,and the results show that,the humanoid hand can effectively realize the size of the object and output the expected force,and realize stabilize grapping by using the joint control method of bending sensor and pressure sensor.