Patent ID: 8195334

Claim:
A hand device including a palm; a plurality of finger mechanisms extending from the palm; a control unit to adjust power transmitted from a power source via a power transmission mechanism to each of the plurality of finger mechanisms to control bending and stretching motions of the corresponding finger mechanism; a first palm protruding portion protruding upward from a palm surface region when the palm is positioned so that the palm surface region faces upward; a finger protruding portion provided on at least one of the plurality of finger mechanisms and protruding inwardly therefrom; one or more actuators to drive the plurality of finger mechanisms from a straightened position to a bent position to grasp an object with the palm; and a first force sensor provided at the first palm protruding portion to output a signal corresponding to an external force acting on the first palm protruding portion; a second force sensor, provided on the inner side of the plurality of finger mechanisms that face the first palm protruding portion provided with the first force sensor, to output a signal corresponding to an external force acting on the inner side of the plurality of finger mechanisms, wherein the control unit detects a pattern in change over time of the signals output from the first force sensor and the second force sensor, and adjusts the power transmitted from the power source to each of the plurality of finger mechanisms by changing the power over time in accordance with the detected result, and wherein the control unit adjusts the power transmitted from the power source to the plurality of finger mechanisms having the inner side facing the first palm protruding portion, in accordance with the signal output from the first force sensor and the second force sensor.