Patent ID: 8757691

Claim:
A hand comprising: a pair of supporters; first and second gripping claws which are rotatably supported by the pair of supporters, respectively, about an oscillatory axis that crosses a longitudinal direction of the pair of the supporters; an oscillating mechanism configured to oscillate the first and second gripping claws on the oscillatory axis; and a drive roller rotatably provided on one of the first and second gripping claws and configured to rotate about a rotation axis substantially parallel to a longitudinal direction of the one of the first and second gripping claws, wherein the drive roller is rotatably provided on the first gripping claw; a rotation motor disposed inside of the supporter supporting the first gripping claw; a rotation transmitter is provided that is configured to transmit the rotation of the rotation motor; the drive roller is disposed inside of a tip of the first gripping claw and driven by the rotation motor via the rotation transmitter; a first driven roller is disposed inside of a tip of the second gripping claw and rotatably supported on an axis substantially parallel to the longitudinal direction of the pair of supporters; and a second driven roller which is disposed inside of the tip of one of the first and second gripping claws and rotatably supported on an axis substantially parallel to the longitudinal direction of the pair of supporters.