Multi-fingered hands serve as crucial end-effectors for humanoid service robots, unlike single-purpose grippers, they are essential for accomplishing diverse object grasping tasks. This paper presents a low-cost, lightweight, and easily manufacturable modular cable-driven humanoid multi-fingered hand suitable for both industrial and humanoid service robot applications. It begins with a concise overview of the current research status regarding industrial grippers and humanoid multi-fingered hands. Following an analysis of the human hand structure, the study combines modular design principles with a cable-driven approach to meticulously craft finger structures aligned with predefined objectives. These structures are subsequently integrated with the control system. The bi-directional cable-drive mechanism design is further examined to understand the relationships between tendon changes and is then applied to the design of the drive sheave. The finger structures are arranged in the palm of the hand following the natural arrangement of the human hand. A prototype based on this principle is designed, and experimental studies are conducted to analyze the performance and grasping efficacy of both individual fingers and the entire hand. After a series of experiments, it has been validated that the cable-driven multi-fingered hand can perform over ten human-like hand gestures and successfully grasp objects of various shapes.