[Problem] To make it possible to control the force of a robot hand using a simple configuration. [Solution] A robot hand (100) has: a first screw axle (1); a second screw axle (2) arranged substantially on the same axis as the first screw axle (1), the second screw axle (2) having thread grooves in the direction opposite that of the thread grooves of the first screw axle (1); a first hook member (34) that moves in the axis direction due to the rotation of the first screw axle (1); a second hook member (35) that moves in the axis direction due to the rotation of the second screw axle (2); a torsion spring (45) having elasticity in the torsion direction about the axis and connecting the first screw axle (1) and the second screw axle (2); a motor (18) provided with an output axle (18a) connected to at least one of the first screw axle (1) and the second screw axle (2) so as to enable transmission of rotational drive force; a first position detection unit (27A) configured so as to detect the rotational position of the first screw axle (1); and a second position detection unit (27B) configured so as to detect the rotational position of the second screw axle (2).
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