The aim of this thesis is describing the project prototype for a novel hand prosthesis, created in collaboration with the spanish company Ayúdame3D, that, since 2017, develops and distributes 3D printed prostheses in developing countries. Following the desire of improving the quality of life of their patients the company was looking to add to their catalog active devices, this is where the context of this thesis takes place. The project consists of the design and realization of a 3D printed prosthesis that is suitable for wrist level amputees, but could also work for higher level amputations; the main requirements are: external power source, adaptive grasping capabilities, minimal price and availability of the components all around the world.