Patent ID: 8641114

Claim:
A robot hand comprising a hand section having a movable section of a finger joint and an arm section that generates driving torque for driving the movable section, wherein the hand section includes a first pulley that is disposed in the movable section and turns in a movable direction, a second pulley disposed on the wrist side with respect to the movable section, a first driving torque transmitting member that transmits driving torque for rotating the second pulley, a linear member that is fixed to the first pulley and fixed to the second pulley to connect the first pulley and the second pulley, the first driving torque transmitting member is configured integrally with the second pulley and has a rotational axis coaxial with the rotational axis of the second pulley, the arm section includes a second driving torque transmitting member that transmits the driving torque to the first driving torque transmitting member and a drive unit that generates the driving torque, and moves the movable section, and wherein the hand section and the arm section are separably joined to each other by the first driving torque transmitting member and the second driving torque transmitting member.