In this paper the design of an underactuated anthropomorphic robotic hand is presented. The hand is highly-underactuated and passively adaptive to the shape of an object, due to a tendon-driven mechanism and torsional spring in each finger joint. Each of five fingers has three DOFs (Degrees Of Freedom), except the thumb which has an additional DOF, for the rotation in its base. The fingers are tendon-driven, actuated with five DC motors, embedded in the palm. Flexion and extension of the little and ring finger are coupled, since they are actuated with a single motor. The middle and index finger are actuated with one motor each, while the thumb has one motor for flexion/extension and another for the rotation in its base. Custom made 3-axis force sensors are integrated at the tip and in the base link of each finger. Force sensors consist of four Hall sensors and a small permanent magnet in the middle, sealed in a silicon base. The design of the robotic hand is highly anthropomorphic and biologically inspired by the human hand.