As robots are gradually used in more and more scenarios, the requirements for robots to complete a variety of complex tasks are becoming higher and higher. Robotic hands, as the important tool for robot to complete the task, has attracted more and more attention. However, the robotic grasping tool usually has a single function and few degrees of freedom, which makes it difficult to adapt to more complex application scenarios. This paper presented a novel robotic hand with four fingers, which is designed based on the characteristics of human hands. We introduced the design process of the finger structure, analyzed the kinematics and statics of the designed hand, and further manufactured the prototype. To verify the function of the designed multi-fingered hand, we designed a serial of grasping experiments for different objects. The experimental results show that the designed multi-fingered hand can successfully grasp different experimental objects and meet the grasping requirements of the robot.