Developing an anthropomorphic robotic hand (ARH) has become a relevant research field due to the need to help the amputees live their life as normal people. However, the current state of research is unsatisfactory, especially in terms of structural design and the robot control method. This paper, which proposes a 3D printed ARH structure that follows the average size of an adult human hand, consists of five fingers with a tendon-driven actuator mechanism embedded in each finger structure. Besides that, the movement capability of the developed 3D printed robot hand validated by using motion capture analysis to ensure the similarity to the expected motion range in structural design is achieved. Its system functionality test was conducted in three stages: (1) muscular activity detection, (2) object detection for individual finger movement control, and (3) integration of both stages in one algorithm. Finally, an ARH was developed, which resembles human hand features, as well as a reliable system that can perform opened hand palm and some grasping postures for daily use.