The invention relates to a hand intended for being provided on a humanoid robot. The hand comprises a palm and at least one finger (14) articulated to the palm, the finger (14) comprising at least one phalanx (21, 22, 23) and an articulation (27, 28, 29) connecting the phalanx (21, 22, 23) to the palm, the phalanx (21, 22, 23) extending in a main direction (31, 32, 33). According to the invention, the articulation (27, 28, 29) comprises a resilient joining part (35, 36, 37) that allows several degrees of freedom. The hand comprises motorisation means (50, 51) for motorising one degree of rotational freedom among the degrees of freedom made possible by the joining part (35, 36, 37), the motorised degree of rotational freedom allowing a relative movement about a shaft (41, 42, 43) perpendicular to the main direction (31, 32, 33) of the phalanx (21, 22, 23). The other degrees of freedom among the degrees of freedom made possible by the joining part (35, 36, 37) are not motorised.
