The loss of a limb has a significant impact on an individual life. This is particularly true for people in low- and middle-income countries, where limited healthcare resources prevent access to any type of prostheses, either cosmetic or myoelectrical ones, the current standard of care. Recent efforts have been made to develop open-source, low-cost, 3D-printable prosthetic hands, yet these devices remain largely limited by functional dexterity and lack of sensing, preventing users from executing conformal adaptive grasps, generating sufficient grip force for stable manipulation, and perceiving tactile contact without continuous visual monitoring, affecting cognitive load and usability. In this context, this thesis presents the development, mechanical characterization, and non-clinical validation of an affordable, bidirectional prosthetic system designed for transradial-amputees.