The present invention relates to a robot finger structure that enables an adaptive motion with varying movements of joints depending on the contact with an object. The robot finger structure comprises: a first joint (10); a second joint (20) connected to the first joint (10) by means of a pin axis (R); a third joint (30) connected to the second joint (20) by means of a pin axis (R) and connected to the first joint (10) by means of a driven link (40); and a joint drive unit (50) connected to the third joint (30) by means of a pin axis (R) and connected to the second joint (20) by means of an elastic link (55), wherein the joint drive unit (50) selectively rotates the third joint (30) or the elastic link (55) according to the size of load that is applied to the elastic link (55) such that the first joint (10) being connected to the second joint (20) by means of the driven link (40) may rotate with respect to each pin axis (R). In this manner, an adaptive motion where joints move differently depending on the contact with an object (i.e. the size of load), is realized.
