Patent ID: 8897918

Claim:
A robot hand that includes a plurality of fingers and a base provided with the plurality of fingers and grasps an object by using the plurality of fingers, the robot hand comprising: a resultant reaction force detector that detects a resultant reaction force that is a combination of reaction forces exerted by the plurality of fingers on the base; and a finger driver that drives the plurality of fingers to approach the object or move away from the object, wherein the plurality of fingers include a contact sensing finger that senses contact with the object, and the finger driver moves the plurality of fingers toward the object when the resultant reaction force is not detected and the contact sensing finger does not sense the contact, and switches a force that drives the plurality of fingers to a force corresponding to a grasp force exerted to grasp the object when the contact sensing finger senses the contact, and wherein, when the contact sensing finger does not sense the contact but the resultant reaction force is detected, the driving of the plurality of fingers is stopped, the position of the base is changed by moving the base in a direction in which the resultant reaction force is not detected any more, and the plurality of fingers are again moved toward the object.