In a society getting older year by year, Robot technology (RT) is expected to play an important role. In order to achieve this objective, the new generation of personal robots should be capable of a natural communication with humans by expressing human-like emotion. In this sense, the hands play a fundamental role in communication, because they have grasping, sensing and emotional expression ability. This paper presents the recent results of the collaboration between the Takanishi Lab of Waseda University, Tokyo, Japan, and the Arts Lab of Scuola Superiore Sant’Anna, Pisa, Italy, and RoboCasa in a biologically-inspired approach for the development of a new humanoid hand. In particular, the grasping and gestural capabilities of the novel anthropomorphic hand for humanoid robotics RCH-1 (RoboCasa Hand No.1) are presented.