Patent ID: 8672378

Claim:
A multi-fingered type hand device comprising: a wrist portion provided on a distal end side of an arm portion, a base portion connected to the distal end of the wrist portion and provided inside an exterior of a hand, and a plurality of finger mechanisms provided extending from a distal end of the base portion, the wrist portion having therein a wrist sensor that detects a pressure from the outside, at least one of the plurality of finger mechanisms having therein a fingertip sensor that detects a pressure from the outside, the base portion including a frame-shaped frame portion, a tactile sensor accommodated inside the frame portion and detecting a contact pressure, a first substrate controlling output of the wrist sensor, output of the fingertip sensor, and output of the tactile sensor, and a second substrate, the first substrate and the second substrate being disposed opposite to each other so as to sandwich the frame portion from the upper and lower.