The present invention makes it possible to provide good grasping performance with low energy consumption. A hand robot control method comprises: a first step of causing, by energizing a plurality of motors for the fingers in a prescribed order, each joint corresponding to a motor to bend; a second step of placing a joint into a locked state with a one-way power transmission mechanism each time a detection is made by a tactile sensor means by de-energizing the motor of the joint corresponding to that tactile sensor means that has made the detection; a third step of causing the joint corresponding to the motor to bend by energizing the prescribed motor under the condition that all motors are de-energized; and a fourth step of placing all joints in a locked state by de-energizing all motors including the prescribed motor under the condition that the grasping force based on a detected value of the tactile sensor means is a target grasping force.
HAND ROBOT CONTROL METHOD