Abstract
In this study, we have developed a robot hand as the expression device of humanoid robot. We adopt the humanoid robot as a research platform, that humanoid robot is 126cm height and 15kg in weight called "Nicotto". Nicott was developed jointly by our university and private company. The produced robot hand has 5 fingers to make it look like the external appearance of humans as close as possible. Shape memory alloy is adopted for the actuator to decrease the weight. As a result, It was made possible to express emotions using hand movements, and compared to how it was in the past, an improved communication capability can be expected.
