Patent ID: 7766405

Claim:
A robot hand apparatus, comprising: a plurality of finger mechanisms each elongates from a base; a power source actuating each finger mechanism; a plurality of finger mechanism actuation units for actuating each finger mechanism; and a power transmission mechanism transmitting a power from the power source to at least two of said plurality of finger mechanisms at different timing, wherein the power source is a motor, the finger mechanism actuation unit is a rotation roller which connects with the finger mechanism through a transmission unit, the power transmission mechanism comprises a rotation axis which supports each rotation roller while allowing the rotation of the rotation roller and is rotated by the motor, and elastic devices, each is fixed to the rotation axis for holding the rotation roller at a predetermined position on the rotation axis, wherein each rotation roller rotates together with the rotation axis when the rotation roller is held at a predetermined position on the rotation axis by the elastic device, and wherein the degree of the deformation of each of elastic devices differs each other, when the finger mechanism is in a maximum grip state or in a maximum stretch state.