<P>PROBLEM TO BE SOLVED: To provide a robot hand device capable of expressing various motions similar to a human hand. <P>SOLUTION: The robot hand device 10 includes a plurality of finger mechanisms 14 extending from a base portion 12, a first drive motor 18 for actuating a plurality of the finger mechanisms 14 at different phases respectively through a first transmission mechanism 16, and a second drive motor 22 for actuating a plurality of the finger mechanisms 14 at different phases respectively through a second transmission mechanism 20. As each finger mechanism 14 actuates at each different phase respectively, the robot hand as a whole achieves expression of various motions similar to the human hand. <P>COPYRIGHT: (C)2011,JPO&INPIT 
ROBOT HAND DEVICE