Patent ID: 7556299

Claim:
A finger unit comprising: a finger root part, a fingertip part, and a joint part for linking the finger root part and the fingertip part; wherein the joint part supports the fingertip part revolvably around a joint axial line that is orthogonal to a center axis of the fingertip part; the finger root part comprises a joint driving actuator for revolving the fingertip part around the joint axial line; and the fingertip part comprises a revolving member that is supported in a revolvable state by the joint part, a rotating member that is supported in a state of rotation around the center axis of the fingertip part by the revolving member, and a rotation drive actuator for rotating the rotating member, wherein the rotation drive actuator is supported by the revolving member; wherein the finger root part comprises a mounting flange and the joint driving actuator mounted on the mounting flange; and the joint part comprises a drive-side bevel gear that is coaxially fixed in place at a distal end of a rotation output axle of the joint driving actuator, a pair of bearing housings that extend from a front surface of the mounting flange through both sides of the drive-side bevel gear and protrude forward, bearings that are mounted in the bearing housings, a joint axle that is rotatably supported at both ends by the bearings and that is aligned in a direction orthogonal to the center axis of the rotation output axle of the joint driving actuator, a driven-side bevel gear that is coaxially fixed in place to the joint axle and that is meshed with the drive-side bevel gear, and a linking member that is fixed in place at one end to the joint axle and that extends in a direction orthogonal to the joint axle; wherein the revolving member of the fingertip part is linked to the linking member.