| abstract |
(57) [Summary] [PROBLEMS] To obtain a robot hand structure which has a built-in motor and can perform a motion similar to a human hand. SOLUTION: The axes of the first joint 7 and the second joint 8 on the root side of the finger are orthogonal at one point, and the first motor 11 and the first motor 11 for one finger can be driven independently. Two motors of the 12 second motors are provided on the palm, and 19 asymmetrical differential reduction mechanisms are formed between the two motors. |