Abstract
This paper discusses a piercing based food handling robot where two needles are inserted into a food and a palm presses the food. Such a piercing type hand has a potential to grasp the food even in the case where the food is put into a lunch box. There are two ways for piercing foods, one is the inner directional arrangement where two needles are implemented so that they push object through the piercing force, and the other is the outer directional arrangement where two needles are implemented so that they pull object. We found that the outer directional arrangement is more effectually working from the viewpoint of the firm grasping.
