The invention is aimed at reinforcing the humanoid nature of a robot and its interaction capabilities, by increasing the possibilities for controlling the movements of a hand while retaining a high degree of underactuation. The invention meets the aim by providing a hand intended for a humanoid robot, the hand comprising a palm and fingers, each of the fingers being able to be displaced in relation to the palm between a position of rest maintained by spring effect and a compressed position obtained by driving a link part between said finger and the palm, the driving of the link part countering the spring effect; and a motorized shaft, linked to the link part of each of the fingers, and configured so as to displace from the position of rest to the compressed position at least one first finger of the fingers by rotation of the motorized shaft in a first direction of rotation and at least one second finger of the fingers by rotation of the motorized shaft in a second direction of rotation, the second direction of rotation being opposite to the first direction of rotation, wherein two of the fingers are a thumb and an index finger, the thumb and the index finger are located at opposite sides in the palm similar to respective locations of a thumb and an index finger of a human hand, the index finger or the thumb being maintained in the position of rest upon a rotation of the motorized shaft in the first direction, and wherein the second direction of rotation displaces all the fingers of the hand to the compressed position so as to represent, with the palm, a closed hand.
Actuation of a hand to be provided on a humanoid robot