The number of amputees is huge in China. Wearing a bionic prosthesis is one of important approaches to improve the activity ability of daily life for patients. The commercial prostheses are either too expensive or only with single degree of freedom which works awkward. In this paper, a shape adaptive prosthetic hand was proposed to meet the growing need for a low-cost, multifunction and humanoid appearance of a prosthetic hand. It can achieve three most common hand movements in activities of daily life, such as power grasp, precision grasp and lateral grasp, with only one driven motor. With the shape adaptive finger, the suggest that it can accomplish the desired movements.