Robot hand can perform like human hand that consisting of opening, closing, and grasping through an object. Robot hand have been applied in some fields, likes medical science, equipment maintenance, aviation, explosive ordnance disposal, and industrial production. The operating performance of a robot end-effector plays an important role in completing the complex tasks. Related with these research, a study of humanoid robot hands mimicking through human hands movements conducted. Robot hand requires 4 servo motors to move the arm robot and 5 micro servos to move the finger robot. The robot hand is controlled wirelessly so that it is not obstructed by the length of the cable. This study resulted a robot hand that can perform to mimicking through human hand movement properly. The highest error of trial robot finger was in pinky finger, middle finger, and index finger when folded 30° which in the experiment resulted 2.83% error. The highest error of robot arm movement trial when rotated 60° in forearm yaw which in this experiment resulted 8.00% error. This prototype can be applied in real-life task by help difficult human work like removing hazardous objects in a dangerous area such as chemical, biological, and radiological nature.