Abstract
Humanoids should operate various objects in human life environments, and act skillfully contacting with the environment to support human life. It is thought that humanoid's hands that have mechanism automatically transforming into appropriate shape, and have sense of force are effective for human life support. In this paper, We describe autograsping mechanism, passive joint, and tactile sensor shell of humanoid's hand. And we show integration of a humanoid hand with those mecanism and report experiments executing some actions using that hand.
