| 摘要 |
PROBLEM TO BE SOLVED: To provide a multi-finger hand device capable of easily and efficiently performing the grasping operation of an object. SOLUTION: In this multi-finger hand device having finger mechanisms 2-5, the rotating axis 21x of the joint 21 closest to the palm part 1 of the finger mechanism 2 corresponding to the thumb is substantially orthogonal to the rotating axis 13x of the joint 13 closest to the palm part 1 of the finger mechanism 4. The rotating axis 13x of the joint 13 closest to the palm part 1 of each of the finger mechanism 3-5 is slightly inclined and extended in the direction substantially orthogonal to the palm body plate 6 of the palm part 1. The link mechanism 8 closest to the palm part 1 of each of the finger mechanisms 3-5 is fixed to the palm part 1 with the respective central line C3, C4, or C5 being inclined.
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