HAND DEVICE

PROBLEM TO BE SOLVED: To provide a hand device, which can stably grip an article in a complicated shape, in spite of having a simple constitution capable of sufficiently coping with a high load. SOLUTION: The hand device is provided with a hand base part 10 having a palm face 12, a first finger part 100, which is supported to the hand base part 10 so as to be capable of oscillating via a first oscillation shaft 101, a second finger part 200, which is supported by the hand base part 10 around a shaft orthogonal to the first oscillation shaft 101 via a second oscillation shaft 201 so as to be capable of oscillating, and a third finger part 300 which is supported by the second finger part 200 via a third oscillation shaft 301 parallel to the second oscillation shaft 201 so as to be capable of oscillating. The finger parts 100, 200, and 300 are individually and respectively driven by motors 111, 211, and 311. COPYRIGHT: (C)2005,JPO&NCIPI