Abstract: A robotic hand, claw manipulator or a prosthetic device includes plural artificial digits, each having a guide and plural phalanges. First and second cables have a first end fixedly connected to spaced first and second points on a digit distal tip, respectively, and a second end driven by a reversible motor. The cables are positioned and connected to the reversible motor, the two points and a guide arrangement so that in response to the motor being activated in a first direction the first cable exerts a tensile force on the first point and a compressive force on elements of the guide arrangement to cause one of the phalanges to be urged from a bent position toward a straight position and in response to the motor being activated in a second direction the second cable exerts a tensile force on the second point and a compressive force on elements of guide arrangement to cause the phalanx to be urged away from the straight position.