We developed a prototype of hydraulically driven tough robot hand having 4 fingers. This hand is designed as an attachment of the lower arm of the ImPACT dual arm Construction Robot. The feature of this hand is a simple structure and a simple control system which has only one pressure sensor, and 6 valves. The hand can operates not only as a hand but also as a bucket. We conducted evaluation tests in the Robot Test Filed in Fukushima Prefecture. In this paper is presented the outline of this hand and its test results.
