Growing interest in Humanoids calls for safe and cost-efficient robot hand designs. While current rigid-sequential robot hands achieve reliable grasping, the mechanical design is complex and tedious. Flexible tendon-driven hands offer a promising alternative but still fail to surpass rigid designs in terms of functionality and degrees of actuation. We propose the use of tendon-driven flexible fingers with helical tendon routing to maintain grasping performance while reducing design complexity and increasing passive safety. A developed mechanical prototype is successfully evaluated using the Kapandji test and Feix taxonomy. The design shows promise as an alternative to classical SRP designs, with future work addressing current limitations. Specifically, flexibility must be reduced to achieve greater stiffness for precision grasps, and a mathematical model of the hand must be derived to enable further evaluation of grasp point identification and fingertip forces. Literature on continuum robots offers potential approaches for both challenges.