Abstract
Until now, various robot hands have been proposed and developed. However, diversity of human skills has not been achieved. Utilization of tools can be considered as one of solutions, because human being utilizes various tools. However, it is very difficult to handle the various tools for a robot hand. In this paper, a novel hand mechanism is introduced. The proposed hand can handle various opening and closing type tools e.g. pliers, nipper, scissors. Its concept and design are introduced.
