Motion control of the human hand is the most complex part of the human body. It has always been a challenge for a good balance between the cost, weight, responding speed, grasping force, finger extension, and dexterity of prosthetic hand. In order to research and imitate the movement of the human hand, a 3D-printed cable driven humanoid hand based on bidirectional elastomeric passive transmission (BEPT) is designed in this paper. A semi-static model of BEPT is investigated based on energy conservation law to analyze the mechanical properties of BEPT. Then a simulation of dynamics of finger grasping is conducted. For a better imitation of human hand and a better grasping performance, specific BEPT is selected according to human finger grasping experiments. The advantage of BEPT based humanoid hand is that a good balance between the price and performance of the humanoid hand is achieved. Experiments proved that designed humanoid hand’s excellent grasping performance can be realized through BEPT. The designed prosthetic hand’s single fingertip force can reach 33N and has a good force control effect with 430g’s weight. It can not only grab fragile objects like raw eggs and paper cup, but also achieve strong grasping force to damage metal cans.