Loncaric, JosipComarmond, Fabrice deBartusek, John D.Pati, Y.C.We describe the design and virtues of a new version of a robot hand which is based on the division of function principle. The hand consists of two modules: a fine manipulation stage and a grasping stage. These stages function independently, and the grasping stage of the mechanism can be used by itself as a medium complexity hand. The fine manipulation stage uses the Stewart platform mechanism.en-USTechnical Report