HAND MECHANISM

A hand mechanism comprises a first multi-joint finger and a second multi-joint finger as well as a single-joint finger which is rotatable about a center of a predetermined connecting portion together with the first multi-joint finger and the second multi-joint finger, wherein the mechanism executes a first mode in which the respective entire fingers of the first multi-joint finger and the second multi-joint finger are rotated in an identical direction by the aid of a connecting portion with respect to an attachment member when a driving force is applied from a driving actuator and a second mode in which a finger section other than a first predetermined finger section included in the first multi-joint finger is rotated with respect to the first predetermined finger section and a finger section other than a second predetermined finger section included in the second multi-joint finger is rotated with respect to the second predetermined finger section, when the rotation of the first predetermined finger section included in the first multi-joint finger and the rotation of the second predetermined finger section included in the second multi-joint finger are inhibited in the first mode. Accordingly, it is possible to realize a variety of gripping actions and it is also possible to realize preferred durability or tolerance and maintainability by simplifying the structure.