Patent ID: 7556300

Claim:
A finger unit of a robot hand, comprising: a first rotational actuator, a first finger joint part, a first finger linkage, a second finger joint part, and a second finger linkage that are connected in this order, and a second rotational actuator attached to the first finger linkage; wherein the first finger linkage swivels about the first finger joint part by means of the first rotational actuator; the second finger linkage swivels around the second finger joint part by means of the second rotational actuator; the second rotational actuator is attached to the first finger linkage so as to be in a slantwise orientation relative to a straight line passing through a center of rotation of the first finger joint part and a center of rotation of the second finger joint part; a center line of a rotational output shaft of the first rotational actuator intersects with the center of rotation of the first finger joint part; and a center line of a rotational output shaft of the second rotational actuator intersects with the center of rotation of the second finger joint part.