This study presents a comprehensive framework for developing humanoid robot fingers using biometric optimisation, integrating anatomical design, mechanical engineering, sensor technology, and control programming. By mirroring human finger structure—including phalange lengths, joint ranges, and tendon pulley arrangements—the authors derive mathematical models (using the Lagrangian method) to guide the dynamic design of a one-degree-of-freedom anthropomorphic finger. They implement the BOSHRF algorithm to optimize phalange geometry and interphalangeal joint coordination, ensuring natural bending motion. The prototype uses force-sensitive fingertip sensors (like Flexi Force) to modulate grip strength during tasks like grasping papers and pens, demonstrating delicate, human-like control. Material selection (e.g., polypropylene via injection molding) reinforces lightweight yet durable construction, with broader implications for applications such as surgical robotics, assistive devices, animation, and space exploration.