| 摘要 |
A multi-finger hand device, wherein cushioning members (17 to 19, 26, 27) covering the outer peripheral surfaces of the inter-joint members (6 to 8, 21, 22) of finger mechanisms (1a to 1e) are installed on the inter-joint members (6 to 8, 21, 22) of the finger mechanisms (1a to 1e) and the cushioning members adjacent to each other are separated from each other at the joints (9 to 11, 23, 24) therebetween, and elastic cover members (20a to 20e) formed of an elastomer such as rubber are detachably inserted onto the finger mechanisms (1a to 1e), whereby an object holding operation can be performed without damaging an object, and the device can be prevented from being contaminated and the maintainability of the device can be increased.
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