Door lock is regarded as a critical line of defending the privacy and security of personal areas. However, for inner doors in environments like factories, existing locking mechanisms can be poor in user-friendliness and high in cost. For instance, mechanical locks require carrying keys that inevitably compromise user experiences, while smart locks always require non-trivial sensors. Therefore, inner doors urgently require a lightweight unlocking scheme that can properly balance user-friendliness, cost, and security. To this end, we propose HandKey as a keyless unlocking scheme to supplement existing lock systems. HandKey relies on two principles: the simplicity of hand knocking doors and the uniqueness of vibration triggered by the knocking force. In other words, a door and a hand knocking it jointly form a unique physical system that generates hand-dependent and user-specific vibration signatures uniquely representing a user identity. In designing HandKey, we first analyze the vibration mechanism behind it and the impacts of gestures and door materials on vibration signatures. Then we innovatively construct a signal processing and deep learning-based pipeline to extract signatures robust to variable knocking behaviors for representing user identity. Finally, we implement a HandKey prototype and use extensive evaluation to demonstrate its security and effectiveness.