The robot anthropomorphic multi-fingered hand device relates to a mechanical finger device, which mainly includes a palm, a thumb, an index finger, a middle finger, a ring finger, a little finger, a joint body at the base of the thumb, and a joint body at the base of the four fingers. The index finger, middle finger, ring finger, and little finger all include root phalanx, middle underactuated joint, middle phalanx, terminal underactuated joint, and terminal phalanx, respectively. The index finger, middle finger, ring finger and little finger are respectively socketed on the same four-finger root joint body and connected with the palm. The base joint body of the thumb and the base joint body of the four fingers are active joints driven by motors, and the middle underactuated joints, end underactuated joints and thumb end underactuated joints of the index finger, middle finger, ring finger and little finger all adopt the same underactuated joint. Its appearance, size and movement are similar to human hands, with 11 degrees of freedom and high integration. It only needs 2 motors to drive, and the motor and its driver are hidden in the hand. It is easy to control and can stably grasp objects of different shapes and sizes. on anthropomorphic robots.