Hand mechanism
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United States of America Patent
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Dec 5, 2017
Grant Date -
Oct 27, 2016
app pub date -
Dec 8, 2014
filing date -
Dec 9, 2013
priority date (Note) -
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status (Latency Note)
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Abstract
A hand mechanism including a first multi-joint finger, a second multi-joint finger, and a single-joint finger rotatable about a center of a predetermined connecting portion together with the first and second multi-joint fingers. The mechanism executes a first mode in which the respective entire fingers of the first and second multi-joint fingers are rotated in an identical direction using a connecting portion with respect to an attachment member when driven by a driving actuator, and a second mode in which a finger section other than a first predetermined finger section included in the first multi-joint finger is rotated with respect to the first predetermined finger section and a finger section other than a second predetermined finger section included in the second multi-joint finger is rotated with respect to the second predetermined finger section, when the rotation of the first and second predetermined finger sections are inhibited in the first mode.
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