Abstract: A mechanical finger comprises at least two phalanges. The phalanges have tubular bodies made of a semi-rigid material. One phalange is adapted to be secured to a base. Another phalange is connected to an adjacent phalange for pivoting movement with respect to the adjacent phalange. A skeleton member in the tubular bodies of the phalanges moves to actuate the pivoting motion of the phalanges with respect to one another. The skeleton member is connected to a degree of actuation to cause the pivoting motion of the phalanges with respect to one another. An assembly is also provided. The assembly comprises at least two of the mechanical finger, a palm actuator comprising a base for connection of the base phalange of each mechanical finger, and at least one degree of actuation connected to the skeleton member. The degree of actuation causes a grasping movement of the mechanical fingers.