In this paper, the modular design of artificial hands is presented. The modular concept shall be introduced based on the example of the artificial anthropomorphic hand prototype, which is part of the project for the development of a human assistive robot. Particular attention shall be dedicated to details of modular construction and servicing of the hand prototype. Prototype components, functional activities, technical characteristics, and the control system of the hand shall be introduced as well. Additionally, two hand prototypes were attached to a humanoid service robot and first experience gained from their operation will be presented in conclusion.