Abstract: The manipulator plays an important role in improving the intelligence and execution ability of the robot. Hardness， as one of the important physical properties of an object， affects partly the intelligent grasping control of a manipulator. In order to make it possible for the manipulator to improve characteristics of good adaptability， integration and lightweight， an anthropopathic robotic hand based on 3D printing technology was designed. The manipulator worked via the wire ropes pulled by micro-motor screws， and the micro-motor screws were embedded in the palm of the hand. Thus the bending motion of four fingers and the bending and swinging motion of the thumb can be realized. Based on the platform， this work focuses on the object hardness recognition on the basis of current sensor feedback only， without using additional external sensors.It makes up for the disadvantage that most manipulators cannot directly distinguish the hardness of objects. By integrating the robotic hand with a soft arm， the classification for rotten fruits and fresh fruits with different hardness is realized.

Key words: anthropopathic robotic hand, modularization, 3D printing, current feedback, hardness recognition