Our experience in developing, building and using dexterous robot hands reaches back to 1993. Our work scope covers all areas from multisensory mechatronic hand design up to control of the hands including telemanipulation, autonomous grasping and manipulation. As example the DLR Hand II basing on four identical fingers was rated as one of the most advanced and complex artificial hands in the world at it is introducing in the year 2001. It is the base for the DLR Hit Hand I and II. In the year 2008 we introduced the DLR Hand Arm System David - it is still the most complex mechatronic hand with 38 motors and 19 degree of freedoms in the world. With it size and performance approaching the human archetype it is unique. It mirrors our experience with tendon driven passive compliance systems. Our last development is the space hand called DEXHAND. It combines the modular hand concept of DLR Hand II with tendon driven fingers to reach fingers sizes of Astronaut gloves and still has the same active fingertip force as DLR Hand II.