The low-cost and highly adaptable robotic hand with 4 fingers and 16 independently torque-controlled joints is a perfect platform for grasping and manipulation research and education. It is a 16-DOF,4-finger robotic hand equipped with compact motor modules capable of current control. Its strengths are high degrees of freedom,real-time control,and online simulation support,and it is used in robotic research by renowned institutions such as Facebook,Google,Stanford,and MIT.